Compact Tunneling Robot

For my capstone project, I worked on a minimally viable product of a Compact Tunneling Robot with a team of my close classmates. This robot encompassed a great variety of systems for locomotion and material processing including:

A linear actuator, worm-gear-driven pitch and yaw joints, and radial expansion segments for peristaltic (wave-like) locomotion.
A closed-loop controlled "Cutting Head" and pneumatic pump for abrading substrate and transporting to a distant collection area, respectively.