Manipulation Challenges of Robotic Lunar Construction With Regolith-Filled Sandbags

Nikos Mavrakis

Keywords: lunar construction, robotic manipulation, space robotics

Abstract: One proposed approach for lunar habitat development is the assembly of structures by stacking regolith-filled sandbags, for radiation shielding and structural support. This paper presents an overview of the key robotic manipulation challenges associated with the autonomous sandbag handling. A representative "Lunar Sandbox" experimental testbed is introduced to investigate these challenges. The study focuses on three principal areas: perception, manipulation, and planning. Perception challenges arise from extreme illumination conditions, high light-shadow contrast, and texture blending between ground and sandbag. Manipulation difficulties stem from the deformable nature of sandbags and the shifting distribution of granular material, leading to uncertainties in grasp stability and dynamic behaviour. Planning challenges include environment-aware placement, task sequencing dictated by structural architecture, and localisation and mapping as the habitat evolves. This work establishes foundational requirements for autonomous robotic systems capable of constructing sandbag-based lunar habitats and outlines directions for future research toward higher technology readiness.

Submission Number: 38