Lunar rovers are required to move on rough terrain such as in craters and rear cliffs where it is scientifically very important to explore. Wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. This study especially focuses on influence on mobility of lugs. The fin called lug needs for running on soften surface like soil. However, there are few studies about the effect of lugs. Therefore, in this study, running experiments on simulant are carried out to observe the traversability of the wheel with lugs using slip ratio and electrical current.
