Concept Design for Mole-Like Excavate Robot and Its Localization Method

Numerous numbers of research have been conducted in order to improve the excavation performance for deep and strong ground. However, as a result, the equipment became bulky and colossal in size. In addition, excavated soil removal has become an issue and the existing drilling tools try to compensate this by utilizing fluids. In order to overcome these limitations, the digging manner of burrowing animals is investigated and implemented. The key components for digging are their teeth and limbs, which also take a huge role in removing the soil waste. In the proposed design, a combination of drill-bit and linkage mechanism are utilized to represent the function of burrowing animals' teeth and forelimbs. In particular, a novel mechanism, which allows both rotating and expanding/folding the drill-bit with only one actuator, is introduced. Additionally, the localization system has been proposed that utilizes the wheel odometry and the magnetic sensor.