“…Recent years have seen growing interest in building robots to operate in granular media, with many potential modes of burrowing explored. As summarized by ( Wei et al, 2021 ), various burrowing robots draw inspiration from biological organisms, including moles ( Richter et al, 2002 ; Kubota et al, 2007 ; Richardson et al, 2011 ; Lee et al, 2019 ; Olaf et al, 2019 ), worms ( Omori et al, 2013 ; Tang et al, 2015 ; Fujiwara et al, 2018 ; Isaka et al, 2019 ; Liu et al, 2019 ; Ortiz et al, 2019 ; Das et al, 2020 ; Alhart, 2021 ), plant roots ( Sadeghi et al, 2014 , 2017 ), sandfish ( Maladen et al, 2011 ) and bivalves ( Germann and Carbajal, 2013 ; Winter et al, 2014 ; Tao et al, 2020 ), among others. Several works aim to draw inspiration from mole crabs to create robots with legged locomotive capabilities; Russell (2011) created a robot with external flapping fins which, due to feathering on the return stroke, can locomote in horizontal planes of motion.…”