Design of a Bimodal Self-Burying Robot
This project was presented at the 2013 IEEE International Conference on Robotics and Automation. The paper included in the conference proceedings can be found here.
Subterranean exploration so far has primarily been
performed with the assistance and involvement of human beings.
As more ground is broken and more layers are explored, the
need for a robotic solution to make digging both easier and
safer becomes greater. The applications of a self-burying robot
extend from mining and military applications to humanitarian
applications. This paper elucidates design principles that form
the foundation for self burying robots. In this paper, a bimodal
robot is described which is capable of travelling above-ground in
one mode and capable of burying itself in the other mode. The
variables that affect digging are examined, as well as the design
decisions made in order to optimize the resources available to
the robot. Finally, future work in the area of self-burying robots
We would like to thank all those involved with the Carnegie Mellon University Masters of Science in Robotic Systems Development who provided guidance and assistance through this project.
© Carl Darukhanavala, Andrew Lycas, Arpit Mittal, and Ashwinram Suresh