Development of Small Underground Digging Robot

Analysis of mole digging motion

Abstract

The shield tunneling method for tunnel construction is the mainstream underground excavation technology. However, for tunnels a few centimeters in diameter and several tens of centimeters in depth, there is no need to construct a new shield, so a different excavation mechanism is required. In nature, there are organisms that excavate underground on the same scale. Realizing a similar mechanism may enhance tunnel maintenance performance due to dimensional effects. This research aims to analyze the excavation motion of moles and to develop a small underground excavation robot.