# Burrowing and unburrowing in submerged granular media through fluidization and shape-change

## TL;DR

This paper presents a robotic system that can burrow into and unburrow from submerged granular media using fluidization and shape-change mechanisms, inspired by natural systems.

## Contribution

The novel contribution is a robotic system combining water-jet fluidization for burrowing and a soft bladder for unburrowing in submerged granular media.

## Key findings

- Water-jet fluidization significantly reduces drag, enabling efficient burrowing into submerged granular media.
- A soft, inflatable bladder mechanism effectively unburrows the robot at various depths.
- Pneumatic and hydraulic systems show trade-offs in unburrowing speed and operational time.

## Abstract

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.