https://www.scipedia.com/wd/index.php?action=history&feed=atom&title=Brodoline_et_al_2024aBrodoline et al 2024a - Revision history2026-05-12T00:24:14ZRevision history for this page on the wikiMediaWiki 1.27.0-wmf.10https://www.scipedia.com/wd/index.php?title=Brodoline_et_al_2024a&diff=300643&oldid=prevJSanchez: JSanchez moved page Draft Sanchez Pinedo 156621058 to Brodoline et al 2024a2024-06-06T10:57:07Z<p>JSanchez moved page <a href="/public/Draft_Sanchez_Pinedo_156621058" class="mw-redirect" title="Draft Sanchez Pinedo 156621058">Draft Sanchez Pinedo 156621058</a> to <a href="/public/Brodoline_et_al_2024a" title="Brodoline et al 2024a">Brodoline et al 2024a</a></p>
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</td></tr></table>JSanchezhttps://www.scipedia.com/wd/index.php?title=Brodoline_et_al_2024a&diff=300642&oldid=prevJSanchez at 10:57, 6 June 20242024-06-06T10:57:00Z<p></p>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>This research exploits biomimicry to engineer innovative solutions for soil exploration and tunnelling in complex environments where soil burrowing is the main challenge. Drawing inspiration from the effective burrowing mechanisms of earthworms, we focused on the development of a untethered bio-inspired earthworm- like robot that faithfully replicates the morphology and behavior of Lumbricus terrestris. While prior efforts have primarily explored the horizontal soil burrowing using small diameter probes, in this study we focused on the vertical burrowing capability of a 30 mm diameter robot body. We conducted an experimental parametric analysis of multiple robot’s tip shapes, concentrating on dry sand as the singular soil type. We inserted each tip at a constant speed and monitored the vertical force magnitude depending on the penetration depth. Higher aspect ratios showed better performance, reducing the penetration force compared to low ratios. Experiments showed that asymmetric tips, designed to enhance horizontal locomotion, do not compromise their performance in vertical burrowing. Additionally, we investigated soil fluidization through pressurized air, that effectively reduced shear resistance and facilitated tip penetration by up to 27%. These findings provide valuable insights into the forces requirements for penetrating deeper soil layers, and are essential for accurately design burrowing robots</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>This research exploits biomimicry to engineer innovative solutions for soil exploration and tunnelling in complex environments where soil burrowing is the main challenge. Drawing inspiration from the effective burrowing mechanisms of earthworms, we focused on the development of a untethered bio-inspired earthworm- like robot that faithfully replicates the morphology and behavior of Lumbricus terrestris. While prior efforts have primarily explored the horizontal soil burrowing using small diameter probes, in this study we focused on the vertical burrowing capability of a 30 mm diameter robot body. We conducted an experimental parametric analysis of multiple robot’s tip shapes, concentrating on dry sand as the singular soil type. We inserted each tip at a constant speed and monitored the vertical force magnitude depending on the penetration depth. Higher aspect ratios showed better performance, reducing the penetration force compared to low ratios. Experiments showed that asymmetric tips, designed to enhance horizontal locomotion, do not compromise their performance in vertical burrowing. Additionally, we investigated soil fluidization through pressurized air, that effectively reduced shear resistance and facilitated tip penetration by up to 27%. These findings provide valuable insights into the forces requirements for penetrating deeper soil layers, and are essential for accurately design burrowing robots</div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
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</table>JSanchezhttps://www.scipedia.com/wd/index.php?title=Brodoline_et_al_2024a&diff=300640&oldid=prevJSanchez at 10:56, 6 June 20242024-06-06T10:56:58Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 10:56, 6 June 2024</td>
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<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">                                </ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">==Abstract==</ins></div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">This research exploits biomimicry to engineer innovative solutions for soil exploration and tunnelling in complex environments where soil burrowing is the main challenge. Drawing inspiration from the effective burrowing mechanisms of earthworms, we focused on the development of a untethered bio-inspired earthworm- like robot that faithfully replicates the morphology and behavior of Lumbricus terrestris. While prior efforts have primarily explored the horizontal soil burrowing using small diameter probes, in this study we focused on the vertical burrowing capability of a 30 mm diameter robot body. We conducted an experimental parametric analysis of multiple robot’s tip shapes, concentrating on dry sand as the singular soil type. We inserted each tip at a constant speed and monitored the vertical force magnitude depending on the penetration depth. Higher aspect ratios showed better performance, reducing the penetration force compared to low ratios. Experiments showed that asymmetric tips, designed to enhance horizontal locomotion, do not compromise their performance in vertical burrowing. Additionally, we investigated soil fluidization through pressurized air, that effectively reduced shear resistance and facilitated tip penetration by up to 27%. These findings provide valuable insights into the forces requirements for penetrating deeper soil layers, and are essential for accurately design burrowing robots</ins></div></td></tr>
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