Laboratory Evaluation of Vertical Burrowing Behavior of a Bioinspired Robot (BurroBot)

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4. Laboratory Evaluation of Vertical Burrowing Behavior of a Bioinspired Robot (BurroBot)

Burrowing robots hold significant promise for applications in exploration, search-and-rescue, underground sensor deployment, and construction. However, they face challenges due to high soil resistance and complex soil-robot interactions that are less understood compared to movement in air or water. Drawing inspiration from biological organisms that efficiently navigate through soil, we propose a novel BurroBot, integrating reciprocating (dual-anchor) and helical mechanisms to achieve downward burrowing. The BurroBot features top and bottom augers connected by a two-segment stator and operates in dual-anchor mode, relying on alternate auger rotation and linear motion to overcome soil resistance. Prototyped using rapid manufacturing techniques and tested in loose-packed granular media (poppy seeds), the robot successfully demonstrated downward burrowing starting at different embedment depths. Results showed that while the robot could burrow down through the medium, the rate of advancement decreased with depth, and there was significant variability between trials due to changes in soil states. In each trial, burrowing stopped due to ceased auger rotations due to motor torque limitations. These findings highlight the complexities of soil-structure interactions in robotic burrowing and suggest that further optimization in robot design and control, as well as improved sample preparation methods, are necessary to enhance burrowing efficiency and repeatability.

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

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