Adaptive Morphing and Environmental-Phase-Transition Enables Effective Locomotion inside Granular Media

Abstract

This study introduces a novel burrowing robot that achieves effective locomotion inside granular media through the synergistic integration of high-frequency vibration-induced environmental-phase-transition (EPT) and adaptive morphing. The robotic system employs three key innovations: 1) an asymmetric arm trajectory mechanism generating directional propulsion, 2) a vibration-mediated granular fluidization system reducing environmental resistance, and 3) passively adaptive claws demonstrating phase-dependent configuration changes. Experimental results demonstrate that the synchronization of morphologically adaptive claws and high-frequency vibration significantly improves locomotion performance. Additionally, numerical simulations based on Adams-EDEM coupling provide deeper insights into the interaction mechanisms between the robot and granular media. This work advances fundamental understanding of terradynamic locomotion by demonstrating environmental modification as a viable strategy for resistance reduction, while providing a bio-inspired framework for developing versatile robotic systems capable of navigating complex particulate environments.