Design of a bimodal self-burying robot

Subterranean exploration so far has primarily been performed with the assistance and involvement of human beings. As more ground is broken and more layers are explored, the need for a robotic solution to make digging both easier and safer becomes greater. The applications of a self-burying robot ext...

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Bibliographic Details
Main Authors: Darukhanavala, Carl, Lycas, Andrew, Mittal, Arpit, Suresh, Ashwinram
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Aluminum
Compaction
Materials
Robots
Servomotors
Torque
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Summary:Subterranean exploration so far has primarily been performed with the assistance and involvement of human beings. As more ground is broken and more layers are explored, the need for a robotic solution to make digging both easier and safer becomes greater. The applications of a self-burying robot extend from mining and military applications to humanitarian applications. This paper elucidates design principles that form the foundation for self burying robots. In this paper, a bimodal robot is described which is capable of travelling above-ground in one mode and capable of burying itself in the other mode. The variables that affect digging are examined, as well as the design decisions made in order to optimize the resources available to the robot. Finally, future work in the area of self-burying robots is discussed.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2013.6631381