Rover suspension bogie climbing issue

Hello all,

I’ve come across an interesting little problem while simulating a tripple-bogie rover which I’m struggling to find any literature on. You can see it in this video, the basic layout of the rover is three bogies on loose pivots connected to the rover body, two side and one rear. There are two driven wheels per bogie for 6 in total.

The problem is that when driving over some rocks the side bogie can become stuck in an elevated position. Does anyone know what this particular phenomenon is called?

As for a cause I think this is because the wheel in contact with the rock effectively has a longer distance to travel, but since the wheel is still moving at the same speed by the time the wheel returns to the ground the other wheels have driven much further.

Thanks in advance for any help!

submitted by /u/krikler7
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