It is difficult to walk on the loose ground for the leg typed rovers. Our study group considered that traction of the leg typed rovers is passive earth pressure given to the leg. Passive earth pressure given to the leg is increased by changes of the ground when giving vibration. Therefore, increasing sinkage which is increased when giving vibration to the ground is important to increase passive earth pressure. However, the relationship between the kind of vibration and the sinkage which is increased when giving vibration to the ground is not still understood. In this study, the effects which are given by vibration to the ground are confirmed from the experiment using a few kinds of vibration. In this experiment, the rod which is same as leg types is penetrated in the ground using the experimental machine. Moreover, resistance force from the ground is measured. In experimental results, It was confirmed that the more vibratory force is high, the more resistance from the ground is small.