Evaluation of System Compliance Issues in Laboratory Evaluation of Earthworm-Inspired Robotic Probes

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4. Evaluation of System Compliance Issues in Laboratory Evaluation of Earthworm-Inspired Robotic Probes

Traditional cone penetration tests (CPT) are indispensable for obtaining soil prop- erties but come with limitations, including manual operation and an inherent restric- tion to vertical exploration. The remarkable ability of earthworms to navigate and ma- nipulate soil environments with efficiency has inspired us to investigate this approach to soil exploration. Our research focuses on understanding challenges in designing a bio-inspired robotic system that autonomously navigates soil in multiple directions and enhances in-situ soil analysis while minimizing the soil disturbance. Our proto- type device incorporates control systems including an MSP432 microcontroller and diverse actuation mechanisms, that enable optimal adaptability and precision within various soil conditions. In addition, by testing in different environments, including manufactured tubes and sandy soil conditions, it is possible to investigate the system robustness and adaptability. The refinement further enhances the systems interaction with soil, suggesting approaches to optimize its effectiveness. By investigating the ap- plication of bio-inspired robotics in geotechnical engineering, this work not only can enhance soil analysis techniques while reducing environmental impact, but also sup- port environmental research, infrastructure development, and disaster management.

2025 International Conference on Bio-mediated and Bio-inspired Geotechnics (ICBBG2025)

General session: Bio-inspired methods for subsurface exploration and excavation