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Understanding the wheel-terrain interaction is of great importance to improvethe maneuverability and traversability of the rovers. A well-developed sensingdevice carried by the rover would greatly facilitate the complex risk-reducingoperations on sandy terrains. In this paper, an instrumented wheel-on-limb(WOL) system of planetary rovers for wheel-terrain interaction characterizationis presented. Assuming the function of a passive suspension of the wheel, theWOL system allows itself to follow the terrain contour, and keep the wheelremain lowered onto the ground during rover motion including climbing anddescending, as well as deploy and place the wheel on the ground before a drivecommanding. The system concept, functional requirements, and pre-design work,as well as the system integration are presented.

An Instrumented Wheel-On-Limb System of Planetary Rovers for Wheel-Terrain Interactions: System Conception and Preliminary Design