Second report on Space-Filling Truncated Octahedron Climbing Modular Robots for the Construction of High-Rise Structures on the Lunar Surface: Experimental Validation of Assembly Motion*

In recent years, with the rapid advancement of space development, there has been increasing demand for constructing solar power generation systems on the Moon using modular robots. This study has been proposing a modular construction method aimed at building tall structures on the lunar surface. Their modules adopt a truncated octahedron shape one of a space-filling polyhedron allowing their configuration and placement to be determined geometrically by exploiting its space-filling property. This approach can also be treated as a space quantization and establishes a unified platform in which module development, configuration, and positioning can be derived with comparatively simple calculations. In this paper, we present the results of a field experiment using newly prototyped modules, along with the previously proposed construction method and module design. The results demonstrate the feasibility of the proposed method and highlight the potential for space quantization for robot motions based on space-filling properties.