Abstract
Several small subsurface explorers have been developed in order to reveal the origin of a planet and scientific investigation. These explorers couldn't excavate deep due to the effect of the earth's pressure for the wall holding downward movement. Hence we have developed a novel planetary subsurface explorer robot with propulsion and excavation units based on an actual earthworm. This paper first describes the movement of peristaltic crawling and the concept of our subsurface explorer robot. Next we develop a prototype of excavator with a propulsion unit based on peristaltic crawling and with an excavation mechanism based on an earth auger. Excavation experiments are successfully conducted using the excavator and at lighter weights. It is confirmed that the excavator can begin boring from a launcher, and in case of excavator of 1/6 of its own weight.
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