{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,11]],"date-time":"2026-04-11T12:06:29Z","timestamp":1775909189364,"version":"3.50.1"},"reference-count":83,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"80","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2023,7,12]]},"abstract":"<jats:p>The interest in exploring planetary bodies for scientific investigation and in situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots\u2019 inability to traverse steep slopes, unstructured terrain, and loose soil. In addition, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and postmission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25\u00b0, loose soil, and unstructured terrain, highlighting their advantages compared with wheeled rover systems. We successfully verified the approach in analog deployments at the Beyond Gravity ExoMars rover test bed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach.<\/jats:p>","DOI":"10.1126\/scirobotics.ade9548","type":"journal-article","created":{"date-parts":[[2023,7,12]],"date-time":"2023-07-12T17:58:16Z","timestamp":1689184696000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":95,"title":["Scientific exploration of challenging planetary analog environments with a team of legged robots"],"prefix":"10.1126","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7666-0177","authenticated-orcid":true,"given":"Philip","family":"Arm","sequence":"first","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-4170-7197","authenticated-orcid":true,"given":"Gabriel","family":"Waibel","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]},{"given":"Jan","family":"Preisig","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8662-4890","authenticated-orcid":true,"given":"Turcan","family":"Tuna","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1854-9451","authenticated-orcid":true,"given":"Ruyi","family":"Zhou","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."},{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7914-2516","authenticated-orcid":true,"given":"Valentin","family":"Bickel","sequence":"additional","affiliation":[{"name":"Laboratory of Hydraulics, Hydrology, and Glaciology, ETH Zurich, H\u00f6nggerbergring 26, Zurich 8093, Switzerland."},{"name":"Center for Space and Habitability, University of Bern, Gesellschaftsstrasse 6, Bern 3012, Switzerland."}]},{"given":"Gabriela","family":"Ligeza","sequence":"additional","affiliation":[{"name":"Department of Environmental Sciences, University of Basel, Basel 4056, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8556-2819","authenticated-orcid":true,"given":"Takahiro","family":"Miki","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3242-8103","authenticated-orcid":true,"given":"Florian","family":"Kehl","sequence":"additional","affiliation":[{"name":"Innovation Cluster Space and Aviation (UZH Space Hub), Air Force Center, University of Zurich, D\u00fcbendorf 8600, Switzerland."},{"name":"Center for Theoretical Astrophysics and Cosmology, Institute for Computational Science, University of Zurich, Winterthurerstrasse 190, Zurich 8057, Switzerland."},{"name":"Institute of Medical Engineering, Space Biology Group, Lucerne University of Applied Sciences and Arts, Hergiswil 6052, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1229-7537","authenticated-orcid":true,"given":"Hendrik","family":"Kolvenbach","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4285-4990","authenticated-orcid":true,"given":"Marco","family":"Hutter","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.3847\/PSJ\/abeaa0"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.3847\/PSJ\/abfec6"},{"key":"e_1_3_2_4_2","doi-asserted-by":"crossref","unstructured":"M. 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