Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot

Haoyang Liu; Jiabin Liu; Ran Xu; Guangfei Zhang; Hang Xiao; Kun Xu; Xilun Ding; Tao Zhang

doi:10.1109/ROBIO66223.2025.11377146

Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot

Haoyang Liu
, Jiabin Liu
, Ran Xu
, Guangfei Zhang
, Hang Xiao
, Kun Xu
, Xilun Ding
, Tao Zhang^*

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
Guangdong University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Regolith sampling and analysis are essential for investigating planetary geology and searching for traces of life and water. However, extreme surface conditions and long-term weathering hinder the preservation of early biosignatures. To address these challenges and access deeper subsurface layers, this paper proposes a novel self-propelled, steerable regolith drilling robot with an innovative mechanical design. A modular approach is adopted, comprising four functional units, including excavation, borehole stabilization, propulsion and steering, and chip removal. The mechanical performance of the robot is systematically analyzed, and its motion process is verified through discrete element simulations. This study provides technical support for future in-situ resource utilization on planetary bodies.

Original language	English
Title of host publication	2025 IEEE International Conference on Robotics and Biomimetics, ROBIO 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	810-815
Number of pages	6
ISBN (Electronic)	9798331557478
DOIs	https://doi.org/10.1109/ROBIO66223.2025.11377146
State	Published - 2025
Event	2025 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2025 - Chengdu, China Duration: 3 Dec 2025 → 7 Dec 2025

Conference

Conference	2025 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2025
Country/Territory	China
City	Chengdu
Period	3/12/25 → 7/12/25

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10.1109/ROBIO66223.2025.11377146

Cite this

Liu, H., Liu, J., Xu, R., Zhang, G., Xiao, H., Xu, K., Ding, X., & Zhang, T. (2025). Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot. In 2025 IEEE International Conference on Robotics and Biomimetics, ROBIO 2025 (pp. 810-815). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO66223.2025.11377146

@inproceedings{dca0d5e0f686463c8f8f576f98245972,

title = "Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot",

abstract = "Regolith sampling and analysis are essential for investigating planetary geology and searching for traces of life and water. However, extreme surface conditions and long-term weathering hinder the preservation of early biosignatures. To address these challenges and access deeper subsurface layers, this paper proposes a novel self-propelled, steerable regolith drilling robot with an innovative mechanical design. A modular approach is adopted, comprising four functional units, including excavation, borehole stabilization, propulsion and steering, and chip removal. The mechanical performance of the robot is systematically analyzed, and its motion process is verified through discrete element simulations. This study provides technical support for future in-situ resource utilization on planetary bodies.",

author = "Haoyang Liu and Jiabin Liu and Ran Xu and Guangfei Zhang and Hang Xiao and Kun Xu and Xilun Ding and Tao Zhang",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2025 ; Conference date: 03-12-2025 Through 07-12-2025",

year = "2025",

doi = "10.1109/ROBIO66223.2025.11377146",

language = "英语",

pages = "810--815",

booktitle = "2025 IEEE International Conference on Robotics and Biomimetics, ROBIO 2025",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "美国",

}

Liu, H, Liu, J, Xu, R, Zhang, G, Xiao, H , Xu, K, Ding, X & Zhang, T 2025, Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot. in 2025 IEEE International Conference on Robotics and Biomimetics, ROBIO 2025. Institute of Electrical and Electronics Engineers Inc., pp. 810-815, 2025 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2025, Chengdu, China, 3/12/25. https://doi.org/10.1109/ROBIO66223.2025.11377146

Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot. / Liu, Haoyang; Liu, Jiabin; Xu, Ran et al.
2025 IEEE International Conference on Robotics and Biomimetics, ROBIO 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 810-815.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot

AU - Liu, Haoyang

AU - Liu, Jiabin

AU - Xu, Ran

AU - Zhang, Guangfei

AU - Xiao, Hang

AU - Xu, Kun

AU - Ding, Xilun

AU - Zhang, Tao

PY - 2025

Y1 - 2025

N2 - Regolith sampling and analysis are essential for investigating planetary geology and searching for traces of life and water. However, extreme surface conditions and long-term weathering hinder the preservation of early biosignatures. To address these challenges and access deeper subsurface layers, this paper proposes a novel self-propelled, steerable regolith drilling robot with an innovative mechanical design. A modular approach is adopted, comprising four functional units, including excavation, borehole stabilization, propulsion and steering, and chip removal. The mechanical performance of the robot is systematically analyzed, and its motion process is verified through discrete element simulations. This study provides technical support for future in-situ resource utilization on planetary bodies.

AB - Regolith sampling and analysis are essential for investigating planetary geology and searching for traces of life and water. However, extreme surface conditions and long-term weathering hinder the preservation of early biosignatures. To address these challenges and access deeper subsurface layers, this paper proposes a novel self-propelled, steerable regolith drilling robot with an innovative mechanical design. A modular approach is adopted, comprising four functional units, including excavation, borehole stabilization, propulsion and steering, and chip removal. The mechanical performance of the robot is systematically analyzed, and its motion process is verified through discrete element simulations. This study provides technical support for future in-situ resource utilization on planetary bodies.

UR - https://www.scopus.com/pages/publications/105034723604

U2 - 10.1109/ROBIO66223.2025.11377146

DO - 10.1109/ROBIO66223.2025.11377146

M3 - 会议稿件

AN - SCOPUS:105034723604

SP - 810

EP - 815

BT - 2025 IEEE International Conference on Robotics and Biomimetics, ROBIO 2025

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2025 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2025

Y2 - 3 December 2025 through 7 December 2025

ER -

Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot

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