Cithirascius crawshayi; the "king baboon tarantula"
They are very hardy, deep burrowers, but you won't see them outside of their burrows much.
The Ceratogyrus sp. are also hardy burrowers, along with most Aphonopelma sp. and you will see them a little more frequently.
I would suggest C. crawshayi, and any of the Haplopelma species. I see someone suggested a B. vagans, I have one and it has no burrowing tendencies whatsoever. It has been in my care for about 2 years now and seems content on hiding under a coconut shell rather than burrowing. Also, any of the Hysterocrates species