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Abstract
A novel force planning method for an underground articulated robot is presented based on the interaction between soil, structure and motion. The objective is to develop a new swerving manner in relation to soil– structure interaction, which affects the behavior of the underground articulated robot in path tracking. The localization of a shield machine is studied first to make the track superpose with the center of a tunnel. The controllability of the shield machine is realized by consideration of the machine–soil interaction during tunneling. In addition to being an obstacle, the soil can also act as a special kind of actuator to assist steering the shield machine, based on which a general force planning model is established for path tracking. Finally, a simulation is performed to show the real states during excavating.