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Robotic navigation on land, through air, and in water is well researched; numerous robots have successfully demonstrated motion in these environments. However, one frontier for robotic locomotion remains largely unexplored—below ground. Subterranean navigation is simply hard to do, in part because the interaction forces of underground motion are higher than in air or water by orders of magnitude and because we lack for these interactions a robust fundamental physics understanding. We present and test three hypotheses, derived from biological observation and the physics of granular intrusion, and use the results to inform the design of our burrowing robot. These results reveal that (i) tip extension reduces total drag by an amount equal to the skin drag of the body, (ii) granular aeration via tip-based airflow reduces drag with a nonlinear dependence on depth and flow angle, and (iii) variation of the angle of the tip-based flow has a nonmonotonic effect on lift in granular media. Informed by these results, we realize a steerable, root-like soft robot that controls subterranean lift and drag forces to burrow faster than previous approaches by over an order of magnitude and does so through real sand. We also demonstrate that the robot can modulate its pullout force by an order of magnitude and control its direction of motion in both the horizontal and vertical planes to navigate around subterranean obstacles. Our results advance the understanding and capabilities of robotic subterranean locomotion.
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Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization
Mobile robots of all shapes and sizes move through the air, water, and over ground. However, few robots can move through the ground. Not only are the forces resisting movement much greater than in air or water, but the interaction forces are more complicated. Here we propose a soft robotic device that burrows through dry sand while requiring an order of magnitude less force than a similarly sized intruding body. The device leverages the principles of both tip-extension and granular fluidization. Like roots, the device extends from its tip; the principle of tip-extension eliminates skin drag on the sides of the body, because the body is stationary with respect to the medium. We implement this with an everting, pressure-driven thin film body. The second principle, granular fluidization, enables a granular medium to adopt a dynamic fluid-like state when pressurized fluid is passed through it, reducing the forces acting on an object moving through it. We realize granular fluidization with a flow of air through the core of the body that mixes with the medium at the tip. The proposed device could lead to applications such as search and rescue in mudslides or shallow subterranean exploration. Further, because it creates a physical conduit with its body, electrical lines, fluids, or even tools could be passed through this channel.
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- PAR ID:
- 10100243
- Date Published:
- Journal Name:
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Page Range / eLocation ID:
- 5918-5923
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/IROS.2018.8593530
