Self-boring robots address sustainability goals by decreasing environmental impact, improving subterranean mobility, and enabling dynamic underground wireless sensing networks. Extensive literature reviews have been done exploring helical screw conveyors as a method of burrowing. Optimal helical parameters for pitch and radius have been calculated to improve performance of screw motion. A reference robot has been constructed and tested for velocity and power consumption versus depth traveled. The results will be compared to that of the optimally designed screw. The optimal design is expected to translate faster and draw less current, attaining a more energy efficient and sustainable digger.