Abstract
This paper describes an application of conventional terramechanic contribution to mobile robots or vehicles in rough terrain. Terramechanics, addressing the interactive mechanics between a vehicle and a terrain, has mainly affected machines for agriculture, construction or planetary exploration. However, it is not clear that wheeled locomotion is able to cope with a critical situation getting stuck into soil. So, the authors elaborate the application of established wheel models in terramechanics to discuss an avoidance capability of such situation. Further to this, different characteristics of a single wheel and a multi-wheeled robot are presented. In this paper the interpretation of the conventional studies and experimental remarks is noted based on simulation analyses.
