{"id":"https://openalex.org/W7131122254","doi":"https://doi.org/10.1109/robio66223.2025.11377146","title":"Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot","display_name":"Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131122254","doi":"https://doi.org/10.1109/robio66223.2025.11377146"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126613289","display_name":"Haoyang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyang Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106670276","display_name":"Jianxing Liu","orcid":"https://orcid.org/0000-0002-2201-3887"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabin Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112053925","display_name":"Ran Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068429757","display_name":"Guangfei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangfei Zhang","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025974855","display_name":"Hang Xiao","orcid":"https://orcid.org/0000-0002-0300-3288"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Xiao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126626365","display_name":"Kun Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126617666","display_name":"Xilun Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xilun Ding","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126597889","display_name":"Tao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"810","last_page":"815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.38280001282691956,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.38280001282691956,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.0771000012755394,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.0763000026345253,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/regolith","display_name":"Regolith","score":0.8356000185012817},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6299999952316284},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6154000163078308},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5350000262260437},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5159000158309937},{"id":"https://openalex.org/keywords/planetary-surface","display_name":"Planetary surface","score":0.4799000024795532},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.46209999918937683},{"id":"https://openalex.org/keywords/borehole","display_name":"Borehole","score":0.45170000195503235}],"concepts":[{"id":"https://openalex.org/C41642174","wikidata":"https://www.wikidata.org/wiki/Q106551","display_name":"Regolith","level":2,"score":0.8356000185012817},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6299999952316284},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6154000163078308},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5350000262260437},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5159000158309937},{"id":"https://openalex.org/C138774019","wikidata":"https://www.wikidata.org/wiki/Q7201252","display_name":"Planetary surface","level":3,"score":0.4799000024795532},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.46209999918937683},{"id":"https://openalex.org/C150560799","wikidata":"https://www.wikidata.org/wiki/Q502102","display_name":"Borehole","level":2,"score":0.45170000195503235},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.45019999146461487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40529999136924744},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.398499995470047},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.38109999895095825},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3587999939918518},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3276999890804291},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.2770000100135803},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C51244244","wikidata":"https://www.wikidata.org/wiki/Q634","display_name":"Planet","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.2596000134944916},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25870001316070557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.25690001249313354},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4418029487133026}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1991346640","https://openalex.org/W2009996023","https://openalex.org/W2086859852","https://openalex.org/W2119787702","https://openalex.org/W2152585309","https://openalex.org/W2314230063","https://openalex.org/W2948894702","https://openalex.org/W3015824620","https://openalex.org/W3016996233","https://openalex.org/W3148482242","https://openalex.org/W4292623277","https://openalex.org/W4383645889","https://openalex.org/W4402135218","https://openalex.org/W4405270712"],"related_works":[],"abstract_inverted_index":{"Regolith":[0],"sampling":[1],"and":[2,10,16,22,35,69,71,83],"analysis":[3],"are":[4],"essential":[5],"for":[6,12,98],"investigating":[7],"planetary":[8,104],"geology":[9],"searching":[11],"traces":[13],"of":[14,28,77],"life":[15],"water.":[17],"However,":[18],"extreme":[19],"surface":[20],"conditions":[21],"long-term":[23],"weathering":[24],"hinder":[25],"the":[26,78],"preservation":[27],"early":[29],"biosignatures.":[30],"To":[31],"address":[32],"these":[33],"challenges":[34],"access":[36],"deeper":[37],"subsurface":[38],"layers,":[39],"this":[40],"paper":[41],"proposes":[42],"a":[43],"novel":[44],"self-propelled,":[45],"steerable":[46],"regolith":[47],"drilling":[48],"robot":[49,79],"with":[50],"an":[51],"innovative":[52],"mechanical":[53,75],"design.":[54],"A":[55],"modular":[56],"approach":[57],"is":[58,80,87],"adopted,":[59],"comprising":[60],"four":[61],"functional":[62],"units,":[63],"including":[64],"excavation,":[65],"borehole":[66],"stabilization,":[67],"propulsion":[68],"steering,":[70],"chip":[72],"removal.":[73],"The":[74],"performance":[76],"systematically":[81],"analyzed,":[82],"its":[84],"motion":[85],"process":[86],"verified":[88],"through":[89],"discrete":[90],"element":[91],"simulations.":[92],"This":[93],"study":[94],"provides":[95],"technical":[96],"support":[97],"future":[99],"in-situ":[100],"resource":[101],"utilization":[102],"on":[103],"bodies.":[105]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}
