Rover Wheel-Terrain Traction & Slip

A six-wheel rocker-bogie rover climbs a regolith slope while a real Bekker/Wong terramechanics model computes wheel sinkage and a Janosi-Hanamoto shear-slip curve to determine how much traction the soil can actually supply. Drive it harder than the soil can support and the wheels spin in place — slip ratio climbs toward 100% while ground speed stalls, the same excess-slip failure mode that planetary rover drivers watch for on Mars and the Moon. Switch between loose dust, compacted regolith and rock to see the traction curve change, and toggle rocker-bogie versus a rigid axle to see why real rovers use an articulated suspension to keep all six wheels loaded over uneven ground.