A wheel and a vehicle each having a simple structure and capable of moving over a step while maintaining stability at flat ground traveling are provided. A wheel includes an outer ring that rotates about a wheel rotational axis, an arm drive gear that rotates independently from the outer ring about the wheel rotational axis, and an arm capable of rotating about an arm rotational axis fixed to the outer ring, the arm being configured to partially protrude outside from an outer peripheral surface of the outer ring in a radial direction as the arm drive gear rotates relative to the outer ring in one direction (normal rotational direction) and to be housed inside in the radial direction from the outer peripheral surface of the outer ring as the arm drive gear rotates relative to the outer ring in the other direction (reverse rotational direction) opposite to the one direction.

A rotation induction device for a vehicle, includes an upper case member, a lower case member, a center plate, and an inflow prevention part. The upper case member has a piston rod disposed therethrough. The lower case member, disposed under the upper case member, has the piston rod disposed therethrough. The center plate, disposed between the upper and lower case members such that the piston rod passes through the center plate, is configured to induce either one or both of the upper and lower case members to rotate. The inflow prevention part, formed in the upper and lower case members, is configured to block the inflow of foreign matters. Each of the upper case member, the lower case member, and the center plate is composed of a synthetic resin material.

A wheel and a vehicle each having a simple structure and capable of moving over a step while maintaining stability at flat ground traveling are provided. A wheel includes an outer ring that rotates about a wheel rotational axis, an arm drive gear that rotates independently from the outer ring about the wheel rotational axis, and an arm capable of rotating about an arm rotational axis fixed to the outer ring, the arm being configured to partially protrude outside from an outer peripheral surface of the outer ring in a radial direction as the arm drive gear rotates relative to the outer ring in one direction (normal rotational direction) and to be housed inside in the radial direction from the outer peripheral surface of the outer ring as the arm drive gear rotates relative to the outer ring in the other direction (reverse rotational direction) opposite to the one direction.

A rotation induction device for a vehicle includes: an upper case having a piston rod disposed therethrough; a lower case disposed adjacent to the upper case and having the piston rod disposed therethrough; a center plate disposed between the upper case and the lower case such that the piston rod passes through the center plate, to induce rotation of one or both of the upper case and the lower case; and a position guide part formed on one or both of the upper case and the lower case, to guide a position of the center plate.

A system is provided for retractably deploying traction of a wheel. The system includes a set of grippers, each gripper having a cleat and a radially disposed strut. The system further includes a set of first poles, each first pole coupled to one of the struts, the first pole configured to support motion of its corresponding strut between a parked position and an engaged position, wherein, in the engaged position, the corresponding cleat is axially disposed and engaged against the tread of the wheel and, in the parked position, the corresponding cleat is disengaged from the tread of the wheel. The system includes a first faceplate configured to rotate with the wheel. The system further includes a cleat deployment mechanism having a second faceplate rotatably coupled to the first faceplate, and a set of second poles, each second pole coupled to one of the struts and to the second faceplate.

A system is provided for retractably deploying traction of a wheel. The system includes a set of grippers, each gripper having a cleat and a radially disposed strut. The system further includes a set of first poles, each first pole coupled to one of the struts, the first pole configured to support motion of its corresponding strut between a parked position and an engaged position, wherein, in the engaged position, the corresponding cleat is axially disposed and engaged against the tread of the wheel and, in the parked position, the corresponding cleat is disengaged from the tread of the wheel. The system includes a first faceplate configured to rotate with the wheel. The system further includes a cleat deployment mechanism having a second faceplate rotatably coupled to the first faceplate, and a set of second poles, each second pole coupled to one of the struts and to the second faceplate.

A system is provided for retractably deploying enhanced traction of a wheel having a tread and an axis of rotation. The system includes a set of grippers, each gripper having a cleat and a radially disposed strut. The system further includes a set of strut mounts, each strut mount coupled to one of the struts, the strut mount configured to support motion of its corresponding strut between a parked position and an engaged position, wherein, in the engaged position of such strut, the corresponding cleat is axially disposed and engaged against the tread of the wheel and, in the parked position of such strut, the corresponding cleat is disengaged from the tread of the wheel. The system further includes a cleat deployment mechanism, coupled to the struts, configured on actuation to cause automatic deployment of the struts into the engaged position.

Aspects of the disclosure relate to a robot. The robot includes a body and a wheel assembly coupled to the body. The wheel assembly includes a central hub and a central gear coupled to the central hub. A plurality of legs are coupled to the central hub. The plurality of legs are operatively coupled to the central gear such that the central gear drives the plurality of legs between a closed position and an open position. A motor is coupled to the body and coupled to the wheel. A suspension system is coupled to the wheel assembly. An autonomous guidance system is coupled to the motor.

Aspects of the disclosure relate to a robot. The robot includes a body and a wheel assembly coupled to the body. The wheel assembly includes a central hub and a central gear coupled to the central hub. A plurality of legs are coupled to the central hub. The plurality of legs are operatively coupled to the central gear such that the central gear drives the plurality of legs between a closed position and an open position. A motor is coupled to the body and coupled to the wheel. A suspension system is coupled to the wheel assembly. An autonomous guidance system is coupled to the motor.

A vehicle wheel may include: a wheel disk including a hub, a plurality of spokes extending from the hub in a radial direction, and a wheel rim provided outside of the spokes; a hook-shaped anti-slip member provided on the wheel disk and capable of protruding to the outside of the wheel rim by rotation; and a driving unit driving the anti-slip member.