Traction Analysis Using Differential Suspension for Planetary Exploration Rover

This paper presents an experimental evaluation of differential active suspension for a four-wheeled planetary exploration rover. Twenty-eight suspension combinations were tested across two locomotion configurations and multiple drawbar-pull loads. Performance was quantified by slip ratio, suspension actuator average torque, and energy consumption per meter. Results show that differential suspension layouts reduce slip and actuator torque relative to uniform-height ones, often with minimal energy penalty. The findings quantify traction-energy trade-offs and provide design guidance for future missions. The study is limited to a single platform and soil type; however, the trends are expected to extend to similarly scaled rovers and granular media. The work provides a foundation for developing control strategies that utilize active suspension mechanisms to respond to varying terrain topographies, soil properties, and actuator health in real-time.