지하 및 우주 자원 탐사를 위한 두더지 생체모방 굴진 로봇(몰봇) 개발

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. The current drilling system exhibits a lower excavation capacity despite the large size and complex process. Also, there is concern about environmental pollution because of using chemical fluids to remove the excavated soil. This paper proposes a drilling robot that mimics moles which are digging and living in the underground to overcome these limitations. Through combining an expandable drill bit and a link structure, a fundamental excavation mechanism is developed that mimics the functions of moles' digging tools, i.e., teeth and forelimbs. Additionally, a system for recognizing the underground location has been developed. It proceeds through graph-based SLAM using IMU sensor and encoder values. The system's performance is verified in a mixed ground environment with a maximum strength of 4 MPa.