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Re: Crab Steering on Regolith
<R06>
...The ROVER WHEELS must be used in a “normal” orientation (i.e. with the tread of the wheel in contact with the ground, with the axis of rotation parallel to the ground and penetrating the wheel hub)...
The floor is a plane. The axis is a line. A plane is parallel to a line if they will never touch if their length was extended to infinity. This means the axis which the wheel is driven about must always be in a horizontal orientation. The purpose of this is to disallow tilting of the wheel. Therefore, R06 does not identify crab steering as an illegal system.
On another note, I also thought that crab steering would work, but for a different reason. In a car, drivers are told to turn with a skid when driving in slippery conditions. This way, the tire can grab and begin rotating with the direction of travel. I do not think that any type of steering will prevent sliding but I think rotating the wheels in the direction of the slide will allow the robot to regain traction faster. But this paragraph was just my thoughts, nothing which is absolute fact. As was mentioned earlier, no statement starting with "I think" should be considered as true without further investigation.
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