Reliable posture control is a key capability for lunar rovers, as terrain irregularities and compliant suspensions can induce large chassis motions that degrade payload pointing, sensor performance, and overall mobility. This thesis investigates posture control for a lunar exploration rover featuring four wheeled legs equipped with active suspensions driven by Series Elastic Actuators (SEAs). The robotic platform, developed at Thales Alenia Space Italia (TAS-I) within the ESA European Moon Rover System (EMRS) programme, enables active regulation of chassis heave, roll, and pitch through modulation of SEA- generated leg torques. A high-fidelity simulation framework is developed in MATLAB/Simulink, employing a multibody model implemented in Simscape to capture the coupled suspension–body dynamics and reproduce representative terrain-induced excitations.