Abstract
When a volcano erupts, it is very dangerous to approach. However, if we use a rover, we can approach there. But there are loose sand field and loose gravel field in volcano. So the main challenge when developing a rover is traversability. To avoid slippage and increase the wheel's drawbar pull, the wheels of the rover typically have lugs, i.e., grousers. Experimental verification for traversability of a lugged wheeled rover has been done on loose sand field. But it has not been done on loose gravel field. Therefore, we conducted experiments on the traversability in loose sand field and loose gravel field using a two-wheeled testbed. And we evaluated the results of the experiments.
