Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

Table 2

Parameters of terrain mechanics of sand and lunar soil [14].

Terrain parameter	Sand	Lunar soil
	1.10	1.0
(kPa/m)	0.95	1.4
(kPa/m)	1528.43	820
(kPa)	1.04	0.52 (0.1~2.7)
(°)	28	42 (25~50)
(m)	0.0254	0.0178