Abstract
An approach to the lunar and planetary subsurface exploration by an excavation robot is a novel and challenging project. There are few proposals including an excavation system for planetary exploration by an autonomic and small robot. So, this paper describes a basic concept about subsurface exploration by viewpoint of soil dynamics and robotics. This paper considers the fundamental strategies to advance under the surface and the contents serve as a guideline to establish the total system of the lunar excavation robot.
