Traction　of　the　planetary　rover　often　used　kinematics　calculation　method.　When　the　rover　is　walking　on　rough　terrain,　this　kind　of　open-loop　control　method　can　not　drive　the　rover　to　follow　the　desired　velocity　efficiently.　This　paper　describes　an　approach　to　implement　the　closed-loop　traction　control,　which　is　based　on　the　rover＇s　dynamic　model.　As　a　redundancy　robot,　the　dualistic　relationship　between　traction　torque　and　velocity　is　used　to　implement　the　wheel　torque　distribution.　By　using　this　method,　the　wheel　velocity　differences　and　the　sum　of　the　kinetic　energy　will　be　minimized.　Through　building　the　3D　virtual　environment,　simulation　experiment　supports　the　fact　that　the　closed-loop　traction　control　is　much　better　than　the　traditional　open-loop　kinematics　calculation　method.