Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion

Abstract

We have developed a small, unmanned explorer robot to investigate the undergrounds of satellites and planets. This paper describes the developed excavation robot, which is based on earthworm locomotion. The robot demonstrates excavation activity at 1/6 of its own weight, mimicking the light gravity conditions of the Moon. We conclude that the robot is suitable for future excavation missions.