Self-motile probes are an emerging technology that will enable multidirectional in situ testing of soils with methodologies currently unavailable. Several of these technologies use bio-inspiration from annelids to develop the locomotion systems for these devices. In this study, the soil response to the anchor–push mechanism employed by earthworms is investigated utilizing robotic analogues and X-ray microtomography. The robotic analogue consists of two soft actuators capable of anchoring and penetration. The device is buried in Hostun sand and scanned using a tomograph before and after actuation. The displacement field is obtained using three-dimensional digital image correlation. The preliminary experimental programme reported herein evaluates the effects of relative density, overburden stress, tip shape and different actuator designs on the observed soil response. The device was able to reproduce the anchor–push mechanics and advance into the specimen. In dense samples, anchoring by inflating a chamber in the soil causes a kinematic block to form that significantly reduces anchor capacity. In looser samples, anchoring effects are more localised and provide sufficient resistance to backsliding. Additionally, it is observed that a robust design of the pusher chamber is essential to sustaining actuation pressures and achieving high advancement rates into the soil.

中文翻译：

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worm激发的机器人在沙子中的运动：X射线断层摄影的实验研究

自移动探针是一种新兴技术，可以通过目前尚无法使用的方法对土壤进行多方向原位测试。这些技术中的几种利用了来自蛛网菌的生物启发来开发这些设备的运动系统。在这项研究中，利用机器人类似物和X射线显微断层摄影技术研究了土壤对earth所采用的锚定-推动机制的响应。机器人模拟装置由两个能够固定和穿透的软致动器组成。该设备被埋在Hostun沙子中，并在启动之前和之后使用断层扫描仪进行扫描。使用三维数字图像相关性获得位移场。本文报道的初步实验程序评估了相对密度，上覆应力，尖端形状和不同的执行器设计可观察到的土壤响应。该设备能够重现锚固-推力力学并前进到样本中。在致密样品中，通过向土壤中的小室充气来进行锚固会形成运动块，从而大大降低锚固能力。在较松散的样品中，锚固效果更局限，并提供足够的抵抗后滑的能力。另外，观察到，推进器腔室的坚固设计对于维持致动压力和实现向土壤的高推进速率是必不可少的。锚固效果更局限，并提供足够的抵抗后滑的能力。另外，观察到，推进器腔室的坚固设计对于维持致动压力和实现向土壤的高推进速率是必不可少的。锚固效果更局限，并提供足够的抵抗后滑的能力。另外，观察到，推进器腔室的坚固设计对于维持致动压力和实现向土壤的高推进速率是必不可少的。