A novel five-module subsurface bore propagator robot uses Euler-Lagrange dynamic models, feedback controllers, and a centralized state machine for gait synthesis to achieve 30 mm soil advancement in Unity simulation.
An enhanced cylindrical contact force model,
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[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
A novel five-module subsurface bore propagator robot uses Euler-Lagrange dynamic models, feedback controllers, and a centralized state machine for gait synthesis to achieve 30 mm soil advancement in Unity simulation.