Extended Data Fig. 1: Zhurong rover on Tianwen-1 mission.

a, The group photo of Zhurong rover and Tianwen-1 lander on the Martian surface. The rover dimensions are 2.6 × 3.0 × 1.85 m when fully unfolded, and its mass is 240 kg. The image was taken by a Wi-Fi camera deployed by Zhurong on sol 18 (1 June 2021). Image credit: CNSA/BACC. b, Six scientific payloads, hazard avoidance cameras and the grouser wheel on the Zhurong rover. The six scientific payloads² include NaTeCam³, Multispectral Camera (MSCam), Mars Rover Penetrating Radar (RoPeR)⁴, Mars surface Composition Detector (MarSCoDe)⁷, Mars Rover Magnetometer (RoMAG)⁶, and Mars Climate Station (MCS)⁵. Two pairs of hazard avoidance cameras (HazCam), of engineering payloads, are configured forward and backward for stereo observation. The grouser wheel is evenly arranged with 20 grousers on its outer surface and spokes inside. c, Creeping and crabbing modes of the Zhurong rover implemented by taking advantage of the rocker-bogie suspension with active joints⁴⁶. The creeping mode of Zhurong to get out of sunk and climb steep slopes is realized by decreasing or increasing the angle of the main rocker arm, coordinated with the movement of other wheels. The crabbing mode of Zhurong for lateral movement is achieved by turning the steering wheels at 90° and driving laterally.