[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-83509-en":3,"doc-seo-83509-105":28,"detail-sidebar-cat-0-en-105":90},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":11,"language":21,"language_code":22,"site_id":23,"html_lang":22,"table_of_contents":24,"faqs":25,"seo_title":13,"seo_description":14,"update_tm":26,"read_time":27},83509,549758146520,"Patrick","https://ap-avatar.wpscdn.com/avatar/80002397d8c0411e94?_k=1775819394049821470",8,"Research & Report","Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator","Dynamic modeling, gait synthesis, and feedback control are developed for a modular subsurface robot aimed at human-free underground exploration and excavation. The subsurface propagator combines earthworm-like anchoring/propulsion with tunnel-boring-machine-style excavation. A five-module architecture separates a drill head, two anchoring modules, and two propagation body modules. Euler–Lagrange dynamics enable decoupled controller design, integrated through a centralized state-machine for gait synthesis. Unity physics simulation with CAD and ROS-assisted controller deployment supports sim-to-real validation; experiments achieve stable anchoring and 30 mm soil advancement after three gait cycles.","Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface  \nBore Propagator  \nLina van Br¨ugge, Shruti Kotpalliwar, Akshit Saradagi, Anton Koval, George Nikolakopoulos  \narXiv :2607 .00569v 1 [ cs .RO] 1 Jul 2026  \nAbstract—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-toreal 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.  \nIndex Terms—Underground robotics, Gait Control, Biomimetics.  \nI. INTRODUCTION  \nAutonomous exploration of underground environments introduces several challenges, such as lack of hollow space for movement, a feature-poor environment, and limited sensing capabilities for the deployment of automated robotic systems. Thus, subterranean operations demand robot designs capable of creating space and moving in a confined tunnel-like environments with restricted sensing capabilities [1] . The central element of underground excavation is the design of a mechanism to excavate and propagate while generating enough force to counteract forces from the environment [2] . Therefore, these designs often incorporate bio-inspiration from burrowing animals such as moles, worms, or snakes for the creation of space, anchoring and movement in confined spaces [1], [3]–[5], [6]–[8] . In [9], a robot mimicking molelike burrowing is presented, integrating excavation, propulsion and soil removal directly in one platform. Further development concentrated on different drilling bits combining anchoring and excavation in a single unit [4], [10], however, directional drilling cannot be achieved with this design. Also the robot in [6] performs solely linear movement. However, the worm-like robot achieves burrowing as well as locomotion within a straight pipe using peristaltic soft actuators. Other mole-like robots extend their movement to planar locomotion, demonstrating trajectory following and  \nburrowing in granular medium [5] while highlighting the relation between limb speed and forward propagation.  \nSnake-like robots also incorporate capability to move in confined spaces using obstacle aided locomotion. The authors in [11] present a snake-like robot able to anchor itself by deforming its body to press against pipe walls. This principle is also adopted on another snake-like excavation robot with drill head and fins [1] . For this method, a significant difference in diameter between the robots and the tunnel is necessary. Other designs are therefore concentrating on wormlike motion principles: In [7], an underground explorer robot able to perform 3D-dimensional movement is presented. Its capabilities are demonstrated during vertical climbing inside a pipe and conformed dirt, showing the versatility of wormlike","cbCair3m2wQ9YuVq","https://ap.wps.com/l/cbCair3m2wQ9YuVq","pdf",9353863,1,"English","en",105,"# Abstract\n# Introduction\n## Challenges in underground autonomous exploration\n## Bio-inspired approaches to excavation and locomotion\n## Modeling peristaltic dynamics and control\n## Research gaps and motivation\n# (Remaining sections not provided in excerpt)","[{\"question\":\"What robot capability does the subsurface bore propagator target?\",\"answer\":\"It targets human-free underground exploration and excavation by creating space and advancing through soil in confined, tunnel-like environments.\"},{\"question\":\"How is the proposed subsurface propagator conceptually decomposed?\",\"answer\":\"It decouples into five modules: one drill head for excavating/cavity creation, two modules to anchor the robot, and two modules to enable propagation of the body.\"},{\"question\":\"How are gait synthesis and feedback control integrated and validated?\",\"answer\":\"Controllers for each module are designed using Euler–Lagrange dynamic models and integrated via a centralized state machine for gait synthesis. Performance is verified with a physics-based Unity simulation using a CAD model and ROS-based controller integration, followed by real-robot experiments showing 30 mm advancement after three gait cycles.\"}]",1784188529,20,{"code":4,"msg":29,"data":30},"ok",{"site_id":23,"language":22,"slug":31,"title":13,"keywords":32,"description":14,"schema_data":33,"social_meta":85,"head_meta":87,"extra_data":89,"updated_unix":26},"dynamic-modeling-gait-synthesis-and-control-of-a-novel-subsurface-bore-propagator","",{"@graph":34,"@context":84},[35,52,67],{"@type":36,"itemListElement":37},"BreadcrumbList",[38,42,46,49],{"item":39,"name":40,"@type":41,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":43,"name":44,"@type":41,"position":45},"https://docshare.wps.com/document/","Document",2,{"item":47,"name":12,"@type":41,"position":48},"https://docshare.wps.com/document/research-report/",3,{"item":50,"name":13,"@type":41,"position":51},"https://docshare.wps.com/document/dynamic-modeling-gait-synthesis-and-control-of-a-novel-subsurface-bore-propagator/83509/",4,{"url":50,"name":13,"@type":53,"author":54,"headline":13,"publisher":56,"fileFormat":59,"inLanguage":22,"description":14,"dateModified":60,"datePublished":61,"encodingFormat":59,"isAccessibleForFree":62,"interactionStatistic":63},"DigitalDocument",{"name":9,"@type":55},"Person",{"url":39,"name":57,"@type":58},"DocShare","Organization","application/pdf","2026-07-17","2026-07-16",true,{"@type":64,"interactionType":65,"userInteractionCount":20},"InteractionCounter",{"@type":66},"ViewAction",{"@type":68,"mainEntity":69},"FAQPage",[70,76,80],{"name":71,"@type":72,"acceptedAnswer":73},"What robot capability does the subsurface bore propagator target?","Question",{"text":74,"@type":75},"It targets human-free underground exploration and excavation by creating space and advancing through soil in confined, tunnel-like environments.","Answer",{"name":77,"@type":72,"acceptedAnswer":78},"How is the proposed subsurface propagator conceptually decomposed?",{"text":79,"@type":75},"It decouples into five modules: one drill head for excavating/cavity creation, two modules to anchor the robot, and two modules to enable propagation of the body.",{"name":81,"@type":72,"acceptedAnswer":82},"How are gait synthesis and feedback control integrated and validated?",{"text":83,"@type":75},"Controllers for each module are designed using Euler–Lagrange dynamic models and integrated via a centralized state machine for gait synthesis. 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