Experimental Validation of Compact Biomimetic Robot (Mole-Bot) for Subsurface Exploration

Abstract

Due to the depletion of existing resources, interest in the exploration of new energy resources is increasing. Besides, the investigation of the planetary topsoil is essential for planetary development. This paper proposes a compact excavation robot that mimics moles that are digging and living underground. Additionally, a system for recognizing the underground location has been developed. The system's performance is verified in a mixed ground environment with a maximum strength of 4 MPa.