Core formation in giant gaseous protoplanets

Sedimentation rates of silicate grains in gas giant protoplanets formed by disk instability are calculated for protoplanetary masses between 1 MSaturn to 10 MJupiter. Giant protoplanets with masses of 5 MJupiter or larger are found to be too hot for grain sedimentation to form a silicate core. Smaller protoplanets are cold enough to allow grain settling and core formation. Grain sedimentation and core formation occur in the low mass protoplanets because of their slow contraction rate and low internal temperature. It is predicted that massive giant planets will not have cores, while smaller planets will have small rocky cores whose masses depend on the planetary mass, the amount of solids within the body, and the disk environment. The protoplanets are found to be too hot to allow the existence of icy grains, and therefore the cores are predicted not to contain any ices. It is suggested that the atmospheres of low mass giant planets are depleted in refractory elements compared with the atmospheres of more massive planets. These predictions provide a test of the disk instability model of gas giant planet formation. The core masses of Jupiter and Saturn were found to be ∼0.25 M_⊕ and ∼0.5 M_⊕, respectively. The core masses of Jupiter and Saturn can be substantially larger if planetesimal accretion is included. The final core mass will depend on planetesimal size, the time at which planetesimals are formed, and the size distribution of the material added to the protoplanet. Jupiter's core mass can vary from 2 to 12 M_⊕. Saturn's core mass is found to be ∼8 M_⊕.     

The partial volatilization of Mercury

During recent years my research on the primitive solar nebular has followed two main themes: (1) Very early in the development of the nebula conditions probably favored the occurence of major gaseous instabilities leading to the formation of giant gaseous protoplanets, but the rapid rise of the external temperature soon evaporated the envelopes of these protoplanets, possibly leaving behind precipitated solids which formed the cores and mantles of the terrestrial planets. (2) Models of the nebula indicate a later stage when conditions in the inner Solar System became very hot; at the position of Mercury the temperature was probably in the range 2500–3500°K. This leads to the hypothesis that the original protomercury was a body substantially more massive than the present planet and of normal composition, but that when it was immersed in the high-temperature field of the dissipating solar nebula, most of the rocky mantle was vaporized and mixed into the solar nebula gases and carried away by them. This hypothesis is investigated in the present paper. For simplicity the vaporization of a mantle composed of enstatite, MgSiO₃, was computed for a planet with 2.25 the mass of Mercury at a temperature of 3000°K. It is argued that the mantle could probably be largely removed in the available time of 3 × 10⁴ years. Subsequent accretion would restore some magnesium silicates to the mantle of the planet.     

Forming Jupiter, Saturn, Uranus and Neptune in few million years by core accretion

Giant planet formation process is still not completely understood. The current most accepted paradigm, the core instability model, explains several observed properties of the Solar System’s giant planets but, to date, has faced difficulties to account for a formation time shorter than the observational estimates of protoplanetary disks’ lifetimes, especially for the cases of Uranus and Neptune. In the context of this model, and considering a recently proposed primordial Solar System orbital structure, we performed numerical calculations of giant planet formation. Our results show that if accreted planetesimals follow a size distribution in which most of the mass lies in 30-100 m sized bodies, Jupiter, Saturn, Uranus and Neptune may have formed according to the nucleated instability scenario. The formation of each planet occurs within the time constraints and they end up with core masses in good agreement with present estimations.     

The Leonard Award Address Presented 1998 July 27, Dublin,Ireland: On the difficulties of making Earth-like planets

Abstract— Here I discuss the series of events that led to the formation and evolution of our planet to examine why the Earth is unique in the solar system. A multitude of factors are involved: These begin with the initial size and angular momentum of the fragment that separated from a molecular cloud; such random factors are crucial in determining whether a planetary system or a double star develops from the resulting nebula. Another requirement is that there must be an adequate concentration of heavy elements to provide the 2% “rock” and “ice” components of the original nebula. An essential step in forming rocky planets in the inner nebula is the loss of gas and depletion of volatile elements, due to early solar activity that is linked to the mass of the central star. The lifetime of the gaseous nebula controls the formation of gas giants. In our system, fine timing was needed to form the gas giant, Jupiter, before the gas in the nebula was depleted. Although Uranus and Neptune eventually formed cores large enough to capture gas, they missed out and ended as ice giants. The early formation of Jupiter is responsible for the existence of the asteroid belt (and our supply of meteorites) and the small size of Mars, whereas the gas giant now acts as a gravitational shield for the terrestrial planets. The Earth and the other inner planets accreted long after the giant planets, from volatile-depleted planetesimals that were probably already differentiated into metallic cores and silicate mantles in a gas-free, inner nebula. The accumulation of the Earth from such planetesimals was essentially a stochastic process, accounting for the differences among the four rocky inner planets—including the startling contrast between those two apparent twins, Earth and Venus. Impact history and accretion of a few more or less planetesimals were apparently crucial. The origin of the Moon by a single massive impact with a body larger than Mars accounts for the obliquity (and its stability) and spin of the Earth, in addition to explaining the angular momentum, orbital characteristics, and unique composition of the Moon. Plate tectonics (unique among the terrestrial planets) led to the development of the continental crust on the Earth, an essential platform for the evolution of Homo sapiens. Random major impacts have punctuated the geological record, accentuating the directionless course of evolution. Thus a massive asteroidal impact terminated the Cretaceous Period, resulted in the extinction of at least 70% of species living at that time, and led to the rise of mammals. This sequence of events that resulted in the formation and evolution of our planet were thus unique within our system. The individual nature of the eight planets is repeated among the 60-odd satellites—no two appear identical. This survey of our solar system raises the question whether the random sequence of events that led to the formation of the Earth are likely to be repeated in detail elsewhere. Preliminary evidence from the “new planets” is not reassuring. The discovery of other planetary systems has removed the previous belief that they would consist of a central star surrounded by an inner zone of rocky planets and an outer zone of giant planets beyond a few astronomical units (AU). Jupiter-sized bodies in close orbits around other stars probably formed in a similar manner to our giant planets at several astronomical units from their parent star and, subsequently, migrated inwards becoming stranded in close but stable orbits as “hot Jupiters”, when the nebula gas was depleted. Such events would prevent the formation of terrestrial-type planets in such systems.     

The internal activity and thermal evolution of Earth-like planets

We model the internal thermal evolution of planets with Earth-like composition and masses ranging from 0.1 to 10 Earth masses over a period of 10 billion years. We also characterize the internal activity of the planets by the velocity of putative tectonic plates, the rate at which mantle material is processed through melting zones, and the time taken to process one mantle mass. The more massive the planet the larger its processing rate (?), which scales approximately as ?∝M0.8-1.0. The processing times for all the planets increase with time as they cool and become less active. As would be expected, the surface heat flow scales with planet mass. All planets have similar declines in mantle temperature except for the largest, in which pressure effects cause a larger decline. The larger planets have higher mantle temperatures over all times. The less massive the planet, the larger the decrease in core temperature with time. The core heat flow is also found to decrease more rapidly for smaller planet masses. Finally, rough predictions are made for the time required to generate an atmosphere from estimates of the time to degas water and carbon dioxide in mantle melting zones. The degassing times depend strongly on the initial temperature of the planet, but for the temperatures used in our model all the planets degas within ∼32 Ma after their formation.     

The migration and growth of protoplanets in protostellar discs

We investigate the gravitational interaction of a Jovian-mass protoplanet with a gaseous disc with aspect ratio and kinematic viscosity expected for the protoplanetary disc from which it formed. Different disc surface density distributions are investigated. We focus on the tidal interaction with the disc with the consequent gap formation and orbital migration of the protoplanet. Non-linear two-dimensional hydrodynamic simulations are employed using three independent numerical codes.
A principal result is that the direction of the orbital migration is always inwards and such that the protoplanet reaches the central star in a near-circular orbit after a characteristic viscous time‐scale of ∼10⁴ initial orbital periods. This is found to be independent of whether the protoplanet is allowed to accrete mass or not. Inward migration is helped by the disappearance of the inner disc, and therefore the positive torque it would exert, because of accretion on to the central star. Maximally accreting protoplanets reach about 4 Jovian masses on reaching the neighbourhood of the central star. Our results indicate that a realistic upper limit for the masses of closely orbiting giant planets is ∼5 Jupiter masses, if they originate in protoplanetary discs similar to the minimum-mass solar nebula. This is because of the reduced accretion rates obtained for planets of increasing mass.
Assuming that some process such as termination of the inner disc through a magnetospheric cavity stops the migration, the range of masses estimated for a number of close orbiting giant planets as well as their inward orbital migration can be accounted for by consideration of disc–protoplanet interactions during the late stages of giant planet formation.     

Giant planet formation

The accumulation of giant planets involves processes typical for terrestrial planet formation as well as gasdynamic processes that were previously known only in stars. The condensible element cores of the gas-giants grow by solid body accretion while envelope formation is governed by stellar-like equilibria and the dynamic departures thereof. Two hypotheses for forming Uranus/Neptune-type planets — at sufficiently large heliocentric distances while allowing accretion of massive gaseous envelopes, i.e. Jupiter-type planets at intermediate distances — have been worked out in detailed numerical calculations: (1) Hydrostatic gas-accretion models with time-dependent solid body accretion-rates show a slow-down of core-accretion at the appropriate masses of Uranus and Neptune. As a consequence, gas-accretion also stagnates and a window is opened for removing the solar nebula during a time of roughly constant envelope mass. (2) Gasdynamic calculations of envelope accretion for constant planetesimal accretion-rates show a dynamic transition to new envelope equilibria at the so called critical mass. For a wide range of solar nebula conditions the new envelopes have respective masses similar to those of Uranus and Neptune and are more tightly bound to the cores. The transitions occur under lower density conditions typical for the outer parts of the solar nebula, whereas for higher densities, i.e. closer to the Sun, gasdynamic envelope accretion sets in and is able to proceed to Jupiter-masses.     

The migrating embryo model for disk evolution

Abstract– A new view of disk evolution is emerging from self‐consistent numerical simulation modeling of the formation of circumstellar disks from the direct collapse of prestellar cloud cores. This has implications for many aspects of star and planet formation, including the growth of dust and high‐temperature processing of materials. A defining result is that the early evolution of a disk is crucially affected by the continuing mass loading from the core envelope, and is driven into recurrent phases of gravitational instability. Nonlinear spiral arms formed during these episodes fragment to form gaseous clumps in the disk. These clumps generally migrate inward due to gravitational torques arising from their interaction with a trailing spiral arm. Occasionally, a clump can open up a gap in the disk and settle into a stable orbit, revealing a direct pathway to the formation of companion stars, brown dwarfs, or giant planets. At other times, when multiple clumps are present, a low mass clump may even be ejected from the system, providing a pathway to the formation of free‐floating brown dwarfs and giant planets in addition to low mass stars. Finally, it has been suggested that the inward migration of gaseous clumps can provide the proper conditions for the transport of high‐temperature processed solids from the outer disk to the inner disk, and even possibly accelerate the formation of terrestrial planets in the inner disk. All of these features arising from clump formation and migration can be tied together conceptually in a migrating embryo model for disk evolution that can complement the well‐known core accretion model for planet formation.     

3. Solar System Formation and Early Evolution: the First 100 Million Years

The solar system, as we know it today, is about 4.5 billion years old. It is widely believed that it was essentially completed 100 million years after the formation of the Sun, which itself took less than 1 million years, although the exact chronology remains highly uncertain. For instance: which, of the giant planets or the terrestrial planets, formed first, and how? How did they acquire their mass? What was the early evolution of the “primitive solar nebula” (solar nebula for short)? What is its relation with the circumstellar disks that are ubiquitous around young low-mass stars today? Is it possible to define a “time zero” (t ₀), the epoch of the formation of the solar system? Is the solar system exceptional or common? This astronomical chapter focuses on the early stages, which determine in large part the subsequent evolution of the proto-solar system. This evolution is logarithmic, being very fast initially, then gradually slowing down. The chapter is thus divided in three parts: (1) The first million years: the stellar era. The dominant phase is the formation of the Sun in a stellar cluster, via accretion of material from a circumstellar disk, itself fed by a progressively vanishing circumstellar envelope. (2) The first 10 million years: the disk era. The dominant phase is the evolution and progressive disappearance of circumstellar disks around evolved young stars; planets will start to form at this stage. Important constraints on the solar nebula and on planet formation are drawn from the most primitive objects in the solar system, i.e., meteorites. (3) The first 100 million years: the “telluric” era. This phase is dominated by terrestrial (rocky) planet formation and differentiation, and the appearance of oceans and atmospheres.     

Models and theoretical spectrum for the free oscillations of Saturn

We constructed new models of Saturn with an allowance made for a helium mass fraction of ～0.18–0.25 in its atmosphere. Our modeling shows that the composition of Saturn differs markedly from the solar composition; more specifically, during its formation, the planet was ～11–15 planetary masses short of the hydrogen-helium component. Saturn, as well as the other giant planets, must have been formed according to Schmidt’s scenario, through the formation of embryonic nuclei, rather than according to Laplace’s scenario. The masses of the embryonic nuclei themselves lie within the range (3.5–8) M_⊕. We calculated a theoretical free-oscillation spectrum for our models of Saturn, each of which fits all of the available observational data. The results of our calculations are presented graphically and in tables. Of particular interest are the diagnostic potentialities of the discontinuity gravitational modes related to density jumps in the molecular envelope of Saturn and at the interface between its molecular and metallic envelopes. When observational data appear, our results can be used both to identify the observed modes and to improve the models themselves. We discuss some of the cosmogonical aspects associated with the formation of the giant planets.     

The origin and nature of Neptune-like planets orbiting close to solar type stars

The sample of known exoplanets is strongly biased to masses larger than the ones of the giant gaseous planets of the Solar System. Recently, the discovery of two extrasolar planets of considerably lower masses around the nearby Stars GJ 436 and ρ Cancri was reported. They are like our outermost icy giants, Uranus and Neptune, but in contrast, these new planets are orbiting at only some hundredth of the Earth-Sun distance from their host stars, raising several new questions about their origin and constitution. Here we report numerical simulations of planetary accretion that show, for the first time through N-body integrations that the formation of compact systems of Neptune-like planets close to the hosts stars could be a common by-product of planetary formation. We found a regime of planetary accretion, in which orbital migration accumulates protoplanets in a narrow region around the inner edge of the nebula, where they collide each other giving rise to Neptune-like planets. Our results suggest that, if a protoplanetary solar environment is common in the Galaxy, the discovery of a vast population of this sort of ‘hot cores’ should be expected in the near future.     

The effects of metallicity and grain growth and settling on the early evolution of gaseous protoplanets

Giant protoplanets formed by gravitational instability in the outer regions of circumstellar disks go through an early phase of quasi-static contraction during which radii are large (∼1 AU) and internal temperatures are low (<2000 K). The main source of opacity in these objects is dust grains. We investigate two problems involving the effect of opacity on the evolution of isolated, non-accreting planets of 3, 5, and 7 M_J. First, we pick three different overall metallicities for the planet and simply scale the opacity accordingly. We show that higher metallicity results in slower contraction as a result of higher opacity. It is found that the pre-collapse time scale is proportional to the metallicity. In this scenario, survival of giant planets formed by gravitational instability is predicted to be more likely around low-metallicity stars, since they evolve to the point of collapse to small size on shorter time scales. But metal-rich planets, as a result of longer contraction times, have the best opportunity to capture planetesimals and form heavy-element cores. Second, we investigate the effects of opacity reduction as a result of grain growth and settling, for the same three planetary masses and for three different values of overall metallicity. When these processes are included, the pre-collapse time scale is found to be of order 1000 years for the three masses, significantly shorter than the time scale calculated without these effects. In this case the time scale is found to be relatively insensitive to planetary mass and composition. However, the effects of planetary rotation and accretion of gas and dust, which could increase the timescale, are not included in the calculation. The short time scale we find would preclude metal enrichment by planetesimal capture, as well as heavy-element core formation, over a large range of planetary masses and metallicities.     

Oligarchic growth with migration and fragmentation

In the core-accretion model, giant-planet cores form by oligarchic growth from a population of planetesimals prior to the dispersal of the disk gas. Once a core reaches a critical mass of roughly 10 Earth masses, it begins to accrete a gaseous envelope, forming a giant planet. Collisions between planetesimals cause fragmentation. Planetesimal fragments are more easily captured by cores, speeding up growth, but fragments are also lost by radial drift, reducing the total solid mass in the disk. Interaction with the gas causes cores to undergo inward type-I migration. Migration allows a core to accrete planetesimals from a larger region, but migrating cores may be lost if they reach the star. Thus, migration and fragmentation have both a positive and a negative impact on core formation. Here we describe results of new simulations of oligarchic growth that include fragmentation and/or migration. In the absence of migration, cores grow until they reach their isolation mass, which increases with distance from the star, or until the disk gas disperses. Fragmentation increases the maximum core mass by increasing growth rates in the outer disk, allowing objects to reach their isolation mass during the disk lifetime. When migration is present, cores migrate inwards rapidly when they approach 1 Earth mass. Most migrating cores are lost. Migrating cores gain little extra mass since they are passing through regions that have been depleted by earlier generations of cores. For a disk viscosity parameter alpha=1e−3 and planetesimal radius = 10 km, the maximum core mass is roughly 4 and 0.5 Earth masses with/without fragmentation, respectively, with little dependence on the disk mass. Formation and survival of 10-Earth-mass cores, in the presence of migration, requires large alpha (1e−2) and a massive disk (0.1 solar masses). When alpha is large, type-I migration rates decrease rapidly with time, allowing large, late-forming cores to survive. The addition of a stochastic (random-walk) migration component makes little difference to the outcome, provided that stochastic migration affects only cores larger than 0.01 Earth masses. Stochastic migration becomes increasingly important if it also affects lower-mass objects.     

The formation of a gas giant planet in a viscously evolved protoplanetary disk within the core accretion model

The gas giant planets’ formation processes in a viscously evolved protoplanetary disk are studied in the context of the core accretion model. In this paper, we follow the entire formation process of the core accretion model (the three stages). We find that the gas giant planets’ final masses and formation regions have strong dependence on the molecular cloud core’s properties (angular velocity \(\omega \) and mass \(M _{c d}\)) and the \(\alpha _{ \mathit{min} }\) parameter. We find and build the relationship between gas giant planets’ properties and molecular cloud core’s properties. In contrast to the previous works, we find that the formation process can be finished within the protoplanetary disk’s lifetime (4×10⁶ yr) in our disk model. This is because the mass influx produced by the molecular cloud core can provide enough material to the protoplanetary disk. We also find that the gas giant planets’ final masses increase generally with the viscosity coefficient \(\alpha \). This is because most of the gas giant planet’s mass is captured during the rapid gas accretion phase (the third stage of the core accretion model), and furthermore the accretion of gas in this phase is dominated by the “gap limiting case”. And our numerical results can also be compared with the observed data of exoplanet systems.     

Rapid Formation of Ice Giant Planets

The existence of Uranus and Neptune presents severe difficulties for the core accretion model for the formation of ice giant planets. We suggest an alternative mechanism, namely disk instability leading to the formation of gas giant protoplanets, coagulation and settling of dust grains to form ice-rock cores at their centers, and photoevaporation of their gaseous envelopes by a nearby OB star, as a possible means of forming ice giant planets.     

Models of the giant planets

Models of the giant planets were constructed based on the assumption that the hydrogen to helium ratio is solar in these planets. This assumption, together with arguments about the condensation sequence in the primitive solar nebula, yields models with a central core of rock and possibly ice surrounded by an envelope of hydrogen, helium, methane, ammonia, and water. These last three volatiles may be individually enhanced due to condensation at the period of core formation. Jupiter was found to have a core of about 40 earth masses and a water enhancement in the atmosphere of about 7.5 times the solar value. Saturn was found to have a core of 20 earth masses and a water enhancement in the atmosphere of about 25 times the solar value. Rock plus ice constitute 75–85% of the mass of Uranus and Neptune. Temperatures in the interiors of these planets are probably above the melting points, if there is an adiabatic relation throughout the interiors. Some aspects of the sensitivities of these results to uncertainties in rotational flattening are discussed.     

Hydrodynamic instability of the solar nebula in the presence of a planetary core

When a planetary core composed of condensed matter is accumulated in the primitive solar nebula, the gas of the nebula becomes gravitationally concentrated as an envelope surrounding the planetary core. Models of such gaseous envelopes have been constructed subject to the assumption that the gas everywhere is on the same adiabat as that in the surrounding nebula. The gaseous envelope extends from the surface of the core to the distance at which the gravitational attraction of core plus envelope becomes equal to the gradient of the gravitational potential in the solar nebula; at this point the pressure and temperature of the gas in the envelope are required to attain the background values characteristics of the solar nebula. In general, as the mass of the condensed core increases, increasing amounts of gas became concentrated in the envelope, and these envelopes are stable against hydrodynamic instabilities. However, the core mass then goes through a maximum and starts to decrease. In most of the models tested, the envelopes were hydrodynamically unstable beyond the peak in the core mass. An unstable situation was always created if it was insisted that the core mass contain a larger amount of matter than given by these solutions. For an initial adiabat characterized by a temperature of 450°K and a pressure of 5 × 10^?6 atm, the maximum core mass at which instability occurs is approximately 115 earth masses; this value is rather insensitive to the position in the solar nebula or to the background pressure of the solar nebula. However, if the adiabat is lowered, then the core mass corresponding to instability is decreased. Since the core masses found by Podolak and Cameron for the giant planets are significantly less than the critical core mass corresponding to the initial solar nebula adiabat, we conclude that the giant planets obtained their large amounts of hydrogen and helium by a hydrodynamic collapse process in the solar nebula only after the nebula had been subjected to a considerable period of cooling.     

Terrestrial planet formation surrounding close binary stars

Most stars reside in binary/multiple star systems; however, previous models of planet formation have studied growth of bodies orbiting an isolated single star. Disk material has been observed around both components of some young close binary star systems. Additionally, it has been shown that if planets form at the right places within such disks, they can remain dynamically stable for very long times. Herein, we numerically simulate the late stages of terrestrial planet growth in circumbinary disks around ‘close’ binary star systems with stellar separations 0.05 AU?aB?0.4 AU and binary eccentricities 0?eB?0.8. In each simulation, the sum of the masses of the two stars is 1 M_⊙, and giant planets are included. The initial disk of planetary embryos is the same as that used for simulating the late stages of terrestrial planet formation within our Solar System by Chambers [Chambers, J.E., 2001. Icarus 152, 205-224], and around each individual component of the α Centauri AB binary star system by Quintana et al. [Quintana, E.V., Lissauer, J.J., Chambers, J.E., Duncan, M.J., 2002. Astrophys. J. 576, 982-996]. Multiple simulations are performed for each binary star system under study, and our results are statistically compared to a set of planet formation simulations in the Sun-Jupiter-Saturn system that begin with essentially the same initial disk of protoplanets. The planetary systems formed around binaries with apastron distances QB≡aB(1+eB)?0.2 AU are very similar to those around single stars, whereas those with larger maximum separations tend to be sparcer, with fewer planets, especially interior to 1 AU. We also provide formulae that can be used to scale results of planetary accretion simulations to various systems with different total stellar mass, disk sizes, and planetesimal masses and densities.     

The chemical atmospheric composition of the giant planets

For a long time it was believed that the atmospheres of the giant planets, dominated by molecular hydrogen and helium, were similar in composition to the primordial nebula from which they formed. However, this image has strongly evolved over the past twenty years, due to new developments of ground-based infrared spectroscopy, coupled with the success of the Voyager space mission.Significant differences were measured in the abundances of helium, deuterium and carbon of the four giant planets. The variations in the C/H and D/H ratios have given support to the "nucleation" formation scenario, in which the four giant planets first accreted a nucleus of about ten terrestrial masses, big enough to bind gravitationally the surrounding gaseous nebula; the helium depletion in Saturn has been interpreted as a differentiation effect in Saturn's interior; the apparent helium excess in Neptune, coupled with the recent unexpected detection of CO and HCN in this planet, might imply the presence of molecular nitrogen. In the case of Jupiter and Saturn, disequilibrium species have been detected (CO, PH₃, GeH₄, AsH₃), which are tracers of vertical dynamical motions.In the future, significant progress in our knowledge of the Jovian composition, including the noble gases, should be obtained with the mass spectrometer of the Galileo probe. The ISO mission is expected to provide new far-infrared spectroscopic data which should lead to the detection of new minor species and a better determination of the D/H ratio.     

Orbital migrations in planetesimal discs: N-body simulations and the resonant dynamical friction

We have performed N -body numerical simulations of the exchange of angular momentum between a massive planet and a 3D Keplerian disc of planetesimals. Our interest is directed at the study of the classical analytical expressions of the lineal theory of density waves, as representative of the dynamical friction in discs 'dominated by the planet' and the orbital migration of the planets with regard to this effect. By means of a numerical integration of the equations of motion, we have carried out a set of numerical experiments with a large number of particles  ( N ≥10 000)  , and planets with the mass of Jupiter, Saturn and one core mass of the giant planets in the Solar system  ( M _c=10 M_⊕)  . The torque, measured in a phase in which a 'steady forcing' is clearly measurable, yields inward migration in a minimum-mass solar disc  (Σ∼10 g cm^-2  ), with a characteristic drift time of ∼ a few 10⁶ yr. The planets predate the disc, but the orbital decay rate is not sufficient to allow accretion in a time-scale relevant to the formation of giant planets. We found reductions of the measured torque on the planet, with respect to the linear theory, by a factor of 0.38 for M _c, 0.04 for Saturn and 0.01 for Jupiter, due to the increase in the perturbation on the disc. The behaviour of planets whose mass is larger than M _c is similar to the one of type II migrators in gaseous discs. Our results suggest that, in a minimum mass, solar planetesimals disc, type I migrations occur for masses smaller than M _c, whereas for this mass value it could be a transition zone between the two types of migration.