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Indeed, without some form of maintaining contact between the surfaces wheeled traction can't work.
Yeah, I did wonder about that - is rolling friction linear with weight as well? This gets more complicated the longer you think about it...
Friction is a pain to work with when you start breaking it down and ultimately is poorly understood I believe, though it isn't my field.
Backstop
In true zero gravity, any movement that relies solely on friction between two surfaces would be pretty much impossible.