“…Deformable (radial spring-damper) wheel models were employed by Garnich and Grimm [9], Dhir and Sankar [13], and Rubinstein and Galili [14]. Models of the vehicle track varied from no track [7], to pure spring models [11±13, 17], to kinematic models that solely account for track bridging [8,9,14]. A dynamic track model, proposed by Galaitsis [10], uses a rigid-bar shoe model with spring-damper connections and¯at, rigid terrain.…”