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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/17.jpg"" width=""150"" /> Subsurface explorer robot</div> We have developed a small, unmanned explorer robot to investigate the undergrounds of satellites and planets. This paper describes the developed excavation robot, which is based on earthworm locomotion. The robot demonstrates excavation activity at 1/6 of its own weight, mimicking the light gravity conditions of the Moon. We conclude that the robot is suitable for future excavation missions. </span>

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