Robotic navigation on land, through air, and in water is well researched; numerous robots have successfully demonstrated motion in these environments. However, one frontier for robotic locomotion remains largely unexplored—below ground. Subterranean navigation is simply hard to do, in part because the interaction forces of underground motion are higher than in air or water by orders of magnitude and because we lack for these interactions a robust fundamental physics understanding. We present and test three hypotheses, derived from biological observation and the physics of granular intrusion, and use the results to inform the design of our burrowing robot. These results reveal that (i) tip extension reduces total drag by an amount equal to the skin drag of the body, (ii) granular aeration via tip-based airflow reduces drag with a nonlinear dependence on depth and flow angle, and (iii) variation of the angle of the tip-based flow has a nonmonotonic effect on lift in granular media. Informed by these results, we realize a steerable, root-like soft robot that controls subterranean lift and drag forces to burrow faster than previous approaches by over an order of magnitude and does so through real sand. We also demonstrate that the robot can modulate its pullout force by an order of magnitude and control its direction of motion in both the horizontal and vertical planes to navigate around subterranean obstacles. Our results advance the understanding and capabilities of robotic subterranean locomotion.

Early root growth is critical for plant establishment and survival. We have identified a molecular pathway required for helical root tip movement known as circumnutation. Here, we report a multiscale investigation of the regulation and function of this phenomenon. We identify key cell signaling events comprising interaction of the ethylene, cytokinin, and auxin hormone signaling pathways. We identify the gene Oryza sativa histidine kinase-1 (HK1) as well as the auxin influx carrier gene OsAUX1 as essential regulators of this process in rice. Robophysical modeling and growth challenge experiments indicate circumnutation is critical for seedling establishment in rocky soil, consistent with the long-standing hypothesis that root circumnutation facilitates growth past obstacles. Thus, the integration of robotics, physics, and biology has elucidated the functional importance of root circumnutation and uncovered the molecular mechanisms underlying its regulation.

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