Abstract
This paper describes the basic research about the digging type robot which digs and explores underground. This robot consists of two legs and a joint which connects two legs, and moves like measuring worm using the difference of coefficient of dynamic friction between grounded parts of two legs. And this robot digs by using the characteristic that the robot pushes the ground at the time of drive. We analyzed these motions of the robot dynamically and developed the motion equation. Then we confirmed these movement motions by simulation. Also, we confirmed the possibility of digging by using the characteristic at the time of the drive.
