The application of Bekker Theory on various mobility systems for Planetary Exploration through wheeled, tracked, and legged vehicle locomotion is analyzed. The theory deals with computing the mobility and locomotion performance parameters of terrestrial vehicles on a variety of terrain. Resistance to motion comprises a number of component resistances such as rolling, compaction, bulldozing, wheel flexure, and slippage. Soil thrust is provided by the traction of the vehicle on the given soils.

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Conference A Collection of Technical Papers - AIAA Space 2004 Conference and Exposition
Citation
Patel, N. (Nildeep), Scott, G.P. (Gregory P.), & Ellery, A. (2004). Application of bekker theory for planetary exploration through wheeled, tracked and legged vehicle locomotion. In A Collection of Technical Papers - AIAA Space 2004 Conference and Exposition (pp. 2109–2117).