  This paper addresses the design of a novel interventional robotic platform,
aiming to perform an autonomous sampling and measurement under the thin ice in
the Antarctic environment. We propose a pantograph mechanism, which can
effectively generate a constant interaction force to the surface during the
contact, which is crucial for reliable measurements. We provide the
proof-of-concept design of the pantograph with a robotic prototype with
foldable actuation, and preliminary results of the pantograph mechanism and the
localisation system are provided, confirming the feasibility of the system.
