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It has been found that certain biological organisms, such as Erodium seedsand Scincus scincus, are capable of effectively and efficiently buryingthemselves in soil. Biological Organisms employ various locomotion modes,including coiling and uncoiling motions, asymmetric body twisting, andundulating movements that generate motion waves. The coiling-uncoiling motiondrives a seed awn to bury itself like a corkscrew, while sandfish skinks useundulatory swimming, which can be thought of as a 2D version of helical motion.Studying burrowing behavior aims to understand how animals navigateunderground, whether in their natural burrows or underground habitats, and toimplement this knowledge in solving geotechnical penetration problems.Underground horizontal burrowing is challenging due to overcoming theresistance of interaction forces of granular media to move forward. Inspired bythe burrowing behavior of seed-awn and sandfish skink, a horizontalself-burrowing robot is developed. The robot is driven by two augers andstabilized by a fin structure. The robot's burrowing behavior is studied in alaboratory setting. It is found that rotation and propulsive motion along theaxis of the auger's helical shape significantly reduce granular media'sresistance against horizontal penetration by breaking kinematic symmetry orgranular media boundary. Additional thrusting and dragging tests were performedto examine the propulsive and resistive forces and unify the observed burrowingbehaviors. The tests revealed that the rotation of an auger not only reducesthe resistive force and generates a propulsive force, which is influenced bythe auger geometry, rotational speed, and direction. As a result, the burrowingbehavior of the robot can be predicted using the geometry-rotation-forcerelations.

Bio-inspired Dual-auger Self-burrowing Robots in Granular Media