APS Logo

Investigating Growth and Granular Fluidization in a Minimally Invasive Burrowing Robot

ORAL

Abstract

Subterranean navigation is simply hard to do. The forces resisting underground motion are orders of magnitude higher than in air or water. Here we present a paradigm for minimally invasive robotic burrowing that results in movement an order of magnitude faster and deeper than previous low-impact approaches. Three principles enable this behavior: tip-extension to eliminate skin drag; granular fluidization to reduce form drag; and granular fluidization to control lift forces, a heretofore unstudied phenomenon. We present experimental results from controlled intrusion tests, studying the effects of fluidization direction, depth, and flow rate on both drag and lift. We show that lift is highly dependent on fluidization angle (i.e., the direction of air flow at the tip), decreasing as the fluidization is changed from horizontal to vertically downward, but drag reduction is insensitive to fluidization angle. With the use of pneumatic artificial muscles for steering, we demonstrate a functional burrowing robot, capable of navigating through sand and subterranean obstacles. Our results advance the understanding and capabilities of robotic subterranean locomotion, and the forces at play.

–

Presenters

  • Nicholas Naclerio

    Mechanical Engineering, University of California, Santa Barbara, Mechanical Engineering, UC Santa Barbara

Authors

  • Nicholas Naclerio

    Mechanical Engineering, University of California, Santa Barbara, Mechanical Engineering, UC Santa Barbara

  • Mason Murray-Cooper

    Physics, Georgia Institute of Technology, Georgia Institute of Technology

  • Andras Karsai

    Physics, Georgia Institute of Technology, Georgia Inst of Tech, Georgia Institute of Technology

  • Yasemin Ozkan-Aydin

    Georgia Inst of Tech, Physics, Georgia Institute of Technology, Georgia Institute of Technology

  • Daniel I Goldman

    Georgia Inst of Tech, Physics, Georgia Institute of Technology, Mechanical Engineering, Georgia Inst of Tech, Georgia Tech, Georgia Institute of Technology

  • Elliot W. Hawkes

    Mechanical Engineering, University of California, Santa Barbara, Mechanical Engineering, UC Santa Barbara, Department of Mechanical Engineering, University of California at Santa Barbara, Department of Mechanical Engineering, University of California, Santa Barbara