Steerable Burrowing Robot: Design, Modeling and Experiments
Moran Barenboim,Amir Degani,Moran Barenboim,Amir Degani
This paper investigates a burrowing robot that can maneuver and steer while being submerged in a granular medium. The robot locomotes using an internal vibro-impact mechanism and steers using a rotating bevel-tip head. We formulate and investigate a non-holonomic model for the steering mechanism and a hybrid dynamics model for the thrusting mechanism. We perform a numerical analysis of the dynamic...
