{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,27]],"date-time":"2026-06-27T12:10:47Z","timestamp":1782562247511,"version":"3.54.5"},"reference-count":39,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2020,5,31]],"date-time":"2020-05-31T00:00:00Z","timestamp":1590883200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["950-230594"],"award-info":[{"award-number":["950-230594"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["RGPIN-2015-06046"],"award-info":[{"award-number":["RGPIN-2015-06046"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000196","name":"Canada Foundation for Innovation","doi-asserted-by":"publisher","award":["34099"],"award-info":[{"award-number":["34099"]}],"id":[{"id":"10.13039\/501100000196","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000016","name":"Canadian Space Agency","doi-asserted-by":"publisher","award":["FAST 2015 B07"],"award-info":[{"award-number":["FAST 2015 B07"]}],"id":[{"id":"10.13039\/501100000016","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2020,6]]},"abstract":"<jats:p>One of the major challenges faced by planetary exploration rovers today is the negotiation of difficult terrain, such as fine granular regolith commonly found on the Moon and Mars. Current testing methods on Earth fail to account for the effect of reduced gravity on the soil itself. This work characterizes the effects of reduced gravity on wheel\u2013soil interactions between an ExoMars rover wheel prototype and a martian soil simulant aboard parabolic flights producing effective martian and lunar gravitational accelerations. These experiments are the first to collect wheel\u2013soil interaction imagery and force\/torque sensor data alongside wheel sinkage data. Results from reduced-gravity flights are compared with on-ground experiments with all parameters equal, including wheel load, such that the only difference between the experiments is the effect of gravity on the soil itself. In lunar gravity, a statistically significant average reduction in traction of 20% is observed compared with 1 g, and in martian gravity an average traction reduction of 5\u201310% is observed. Subsurface soil imaging shows that soil mobilization increases as gravity decreases, suggesting a deterioration in soil strength, which could be the cause of the reduction in traction. Statistically significant increases in wheel sinkage in both martian and lunar gravity provide additional evidence for decreased soil strength. All of these observations (decreased traction, increased soil mobilization, and increased sinkage) hinder a rover\u2019s ability to drive, and should be considered when interpreting results from reduced-load mobility tests conducted on Earth.<\/jats:p>","DOI":"10.1177\/0278364920913945","type":"journal-article","created":{"date-parts":[[2020,6,1]],"date-time":"2020-06-01T02:06:33Z","timestamp":1590977193000},"page":"797-811","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":44,"title":["The effects of reduced-gravity on planetary rover mobility"],"prefix":"10.1177","volume":"39","author":[{"given":"Parna","family":"Niksirat","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Concordia University, Montreal, QC, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0940-0820","authenticated-orcid":false,"given":"Adriana","family":"Daca","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Concordia University, Montreal, QC, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Krzysztof","family":"Skonieczny","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Concordia University, Montreal, QC, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2020,5,31]]},"reference":[{"key":"bibr1-0278364920913945","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)1090-0241(2003)129:6(483)"},{"key":"bibr2-0278364920913945","first-page":"E7","volume":"115","author":"Arvidson R","year":"2010","journal-title":"Journal of Geophysical Research: Planets"},{"key":"bibr3-0278364920913945","doi-asserted-by":"crossref","first-page":"E7","DOI":"10.1029\/2010JE003746","volume":"116","author":"Arvidson RE","year":"2011","journal-title":"Journal of Geophysical Research: Planets"},{"key":"bibr4-0278364920913945","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21647"},{"key":"bibr5-0278364920913945","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2267972"},{"key":"bibr6-0278364920913945","volume-title":"Theory of Land Locomotion","author":"Bekker MG","year":"1956"},{"key":"bibr7-0278364920913945","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)0893-1321(1997)10:2(99)"},{"key":"bibr8-0278364920913945","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2011.10.001"},{"key":"bibr9-0278364920913945","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2009.02.006"},{"key":"bibr10-0278364920913945","unstructured":"Callas JL (2015) Mars Exploration Rover Spirit end of mission report. 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