The space rover shoulder is expected to have higher mobility and reliability to satisfy future space exploration mission in unknown irregular environment. Through the combination of the advantages of both the self-adaptive and active rovers, the concept of active self-adaptive suspension rover, a type of self-adaptive suspension rovers, which can reconfigure themselves according to terrain, is creatively ggproposed. In even terrain, the active self-adaptive suspension rover just works like self-adaptive suspension rovers, while in rough terrain, it can reconfigure its structure to fit terrain and promote mobility. To verify the idea, a six wheeled active self-adaptive suspension based concept rover, which can fold and stand up if it is upset, was constructed. Based on an integrated model of mobility for space rover, the configuration model and the active way to reconfigure were also proposed. It is revealed from the study that the active configuration makes the active self-adaptive suspension rover own better mobility and reliability, which enable the active self-adaptive suspension rover to fit unknown irregular environment better.