仿蚯蚓与掘进机设计新型地下机器人，实现30毫米前进与稳定锚定。
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
![论文配图：[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator](https://arxiv.org/html/2607.00569v1/graphics/Fig-RoboConcept.png)
- 分模块设计，基于欧拉-拉格朗日建模实现各关节解耦控制。
- 3个步态周期后在土壤中实现30毫米总推进距离。
- 适合地下勘探与无人挖掘场景，兼具仿真与实机验证。
本文提出一种新型模块化地下探测与挖掘机器人，其设计灵感来自蚯蚓的锚定-推进运动及隧道掘进机的掘进方式。该机器人分为五个独立模块：一个钻头模块用于开挖并创建推进空间，两个锚定模块，以及两个驱动主体推进的模块。采用欧拉-拉格朗日框架建立各模块的动力学模型，作为控制器设计的基础，实现各关节运动的解耦控制。通过中央状态机实现步态合成，并集成所设计的反馈控制器。控制器在基于真实机器人几何结构的物理引擎仿真（Unity + CAD模型）中进行测试，并通过ROS系统完成仿真实机融合。实验结果表明，所提出的结构、控制器与步态合成策略可在完成3个步态周期后，实现30毫米的土壤内总推进距离，并保持机器人稳定锚定。
原文摘要 · Abstract (English)
In this article, we present dynamic modeling, gait synthesis, and feedback control design for a modular novel subsurface robot, designed for human-free subsurface exploration and excavation. The subsurface propagator design is based on two major aspects: 1) anchor and propel movement like an earthworm and 2) excavation similar to tunnel boring machines. This design is decoupled into five separate modules: one drill head to excavate and create cavity for propagation, two modules to anchor the robot, and two modules to enable propagation of the body. In order to design a controller for each of the modules, dynamic models using the Euler-Lagrange framework are developed. These mathematical models are used as a baseline to design controlled decoupled operation of the different joint movements. The operation of robotic assembly is constructed via a centralized state machine for gait synthesis with integration of the designed feedback controller. The controllers are tested on the real robot geometry to aid sim-to-real integration: A physics-based Unity simulation using a CAD model of the robot and integration of the trained controller via ROS verifies the performance of the robot. The experimental results demonstrate that the proposed design, controllers and the gait synthesis strategy together are capable of anchoring the robot in place and creating an total advancement of 30\,mm into the soil after completing 3 gait cycles.
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