A transmission includes a gear mechanism including a gear box, a drive shaft, and an output gear, wherein a bending movement converted into a rotational motion of the output gear is realized through a wobbled member upon rotation of the drive shaft. First and second gear wheels are connected to the output gear and each includes at least one idler pulley having a locking direction and a freewheeling direction. A wobbled plate, mounted on the drive shaft so as not to rotate independently, carries the wobbled member and is positioned to pivot within the wobbled member. The inclination angle of the wobbled plate relative to the wobbled plate rotation axis can be adjusted via control actuators, enabling the wobbled plate to tilt upon rotation of the drive shaft and thus creating a wobbled movement in the wobbled member via the bearing between the wobbled plate and the wobbled member.