Burrowing and unburrowing in submerged granular media through fluidization and shape-change
Subterranean exploration in submerged granular media (GM) presents significant challenges for robotic systems due to high drag forces and the complex physics of GM. This paper introduces a robotic system that combines water-jet-based fluidization for self-burrowing in submerged environments and an u...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2025-07-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2025.1546407/full |
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| author | Aniruddha Nayak Hoseung Seo Nick Gravish Michael T. Tolley |
| author_facet | Aniruddha Nayak Hoseung Seo Nick Gravish Michael T. Tolley |
| author_sort | Aniruddha Nayak |
| collection | DOAJ |
| description | Subterranean exploration in submerged granular media (GM) presents significant challenges for robotic systems due to high drag forces and the complex physics of GM. This paper introduces a robotic system that combines water-jet-based fluidization for self-burrowing in submerged environments and an untethered, volume-change mechanism for burrowing out. The water-based fluidization approach significantly reduces drag on the robot, allowing it to burrow into GM with minimal force. To burrow out, the robot uses a soft, inflatable bladder that undergoes periodic radial expansion, inspired by natural systems such as razor clams. Experimental results demonstrate that increased water flow rates accelerate the burrowing process, while the unburrowing mechanism is effective at varying depths. Comparisons between pneumatic and hydraulic untethered systems highlight trade-offs in terms of operational time and unburrowing speed. This work advances the capabilities of robots in underwater environments, with potential applications in environmental monitoring and underwater archaeology. |
| format | Article |
| id | doaj-art-ba9b71e080ad427398ee78fc96bff0ed |
| institution | DOAJ |
| issn | 2296-9144 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj-art-ba9b71e080ad427398ee78fc96bff0ed2025-08-20T02:46:29ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442025-07-011210.3389/frobt.2025.15464071546407Burrowing and unburrowing in submerged granular media through fluidization and shape-changeAniruddha NayakHoseung SeoNick GravishMichael T. TolleySubterranean exploration in submerged granular media (GM) presents significant challenges for robotic systems due to high drag forces and the complex physics of GM. This paper introduces a robotic system that combines water-jet-based fluidization for self-burrowing in submerged environments and an untethered, volume-change mechanism for burrowing out. The water-based fluidization approach significantly reduces drag on the robot, allowing it to burrow into GM with minimal force. To burrow out, the robot uses a soft, inflatable bladder that undergoes periodic radial expansion, inspired by natural systems such as razor clams. Experimental results demonstrate that increased water flow rates accelerate the burrowing process, while the unburrowing mechanism is effective at varying depths. Comparisons between pneumatic and hydraulic untethered systems highlight trade-offs in terms of operational time and unburrowing speed. This work advances the capabilities of robots in underwater environments, with potential applications in environmental monitoring and underwater archaeology.https://www.frontiersin.org/articles/10.3389/frobt.2025.1546407/fullsoft robotburrowinggranular mediashape changefluidizationuntethered |
| spellingShingle | Aniruddha Nayak Hoseung Seo Nick Gravish Michael T. Tolley Burrowing and unburrowing in submerged granular media through fluidization and shape-change Frontiers in Robotics and AI soft robot burrowing granular media shape change fluidization untethered |
| title | Burrowing and unburrowing in submerged granular media through fluidization and shape-change |
| title_full | Burrowing and unburrowing in submerged granular media through fluidization and shape-change |
| title_fullStr | Burrowing and unburrowing in submerged granular media through fluidization and shape-change |
| title_full_unstemmed | Burrowing and unburrowing in submerged granular media through fluidization and shape-change |
| title_short | Burrowing and unburrowing in submerged granular media through fluidization and shape-change |
| title_sort | burrowing and unburrowing in submerged granular media through fluidization and shape change |
| topic | soft robot burrowing granular media shape change fluidization untethered |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2025.1546407/full |
| work_keys_str_mv | AT aniruddhanayak burrowingandunburrowinginsubmergedgranularmediathroughfluidizationandshapechange AT hoseungseo burrowingandunburrowinginsubmergedgranularmediathroughfluidizationandshapechange AT nickgravish burrowingandunburrowinginsubmergedgranularmediathroughfluidizationandshapechange AT michaelttolley burrowingandunburrowinginsubmergedgranularmediathroughfluidizationandshapechange |