Rocker-bogie

The "rocker" part of the suspension comes from the rocking aspect of the larger, body-mounted linkage on each side of the rover.

Relative to the chassis, the rockers will rotate in opposite directions to maintain approximately equal wheel contact.

The "bogie" part of the suspension refers to the smaller linkage that pivots to the rocker in the middle and which has a drive wheel at each end.

[9] The system is designed to be used at slow speed of around 10 centimetres per second (3.9 in/s) so as to minimize dynamic shocks and consequential damage to the vehicle when surmounting sizable obstacles.

[10] The two front and two rear wheels have individual steering motors which allow the vehicle to turn in place.

[11] The maximum speed of the robots operated in this way is limited to eliminate as many dynamic effects as possible so that the motors can be geared down, thus enabling each wheel to individually lift a large portion of the entire vehicle's mass.