Planetary exploration has increasingly relied on mobile robots known as rovers to support space development. Among various locomotion systems, legged mechanisms have attracted attention as a promising approach for achieving high mobility on rough terrain. However, the surfaces of extraterrestrial bodies such as the Moon and Mars are covered with loose regolith that easily deforms under external forces. As a result, legged rovers tend to disturb the ground surface and experience slippage due to leg-induced loading. To address this issue, a previous study proposed a novel walking method in which the rover’s leg applies vibration to the soil before stepping to compact it. Experiments confirmed that this vibration increases the soil’s bearing capacity, defined as its resistance to vertical loading. This increase is attributed to improvements in soil density and particle interconnectivity, which enhance soil shear strength. In this study, the relationship between the bearing capacity of vibration-compacted soil and its shear strength is investigated through experiments. The results reveal a clear correlation between these parameters, indicating that the bearing capacity of vibration-compacted soil can be estimated from shear strength measurements.
Watanabe et al. (Mon,) studied this question.