In　this　paper,　a　novel　traction　control　scheme　for　a　mobile　robot　with　six　independent　driven　wheels　on　loose　soil　is　presented.　First,　a　robust　model-based　slide　mode　controller　is　designed　to　estimate　the　traction　force　F　x　,　F　y　and　steering　moment　M　z　for　executing　a　desired　motion　of　the　robot　body.　Because　of　actuation　redundancy,　the　degree　of　freedom　of　task　space　is　lower　than　the　number　of　wheel　drive　variables,　the　paper　uses　an　improved　pseudo-inverse　matrix　to　compute　the　tractive　forces　of　the　redundant　drive　wheels.　In　view　of　each　wheel＇s　slip　behavior　on　loose　soil,　a　slip　compensation　term　is　developed　to　correct　the　output　of　slide　mode　controller.　The　simulations　show　clearly　the　advantage　of　the　traction　control　versus　traditional　kinematic　control.　©　2008　Springer　Berlin　Heidelberg.