Liang Ding, Zongquan Deng, Haibo Gao, Junlong Guo, Dapeng Zhang, Karl Iagnemma. Experimental study and analysis of the wheels' steering mechanics for planetary exploration wheeled mobile robots moving on deformable terrain. I. J. Robotic Res., 32(6):712-743, 2013. [doi]
Abstract is missing.