[IKE]

Thanks for the white-paper. These are pretty much the identical equations I used in my turning power spreadsheet. My assumption was that with rock I would be a 14"x28" Wheel base by track robot. I then used different mu values for longitudal and lateral values based off of experiemental day from the AM website and some of the good folks from 494. If you multiply the skid force by the velocity you get Power. Just make sure you use velocity and not simply speed as the direction component is very important to the overall amplitude.