Transform Wheel and Robot having the transform wheel

摘要

Deformation wheel according to the present invention includes a plurality of lobes; Wheels connected to each of the plurality of lobes; And a hinge that pivotally connects the spokes with respect to the lobe, the spokes are capable of two-degree-of-freedom movement, and the plurality of lobes form a circular shape by the two-degrees-of-freedom movement of the spokes. , It is characterized in that it is divided with each other to form a deformed shape.