Abstract: A passively transformable wheel includes a wheel base including a centrally positioned transmitter rotation shaft and one or more passive leg rotation shafts positioned in the outer periphery; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter.

Abstract: Provided is a method for manufacturing a metal structure in which an array of a plurality of pin arrangements is formed on a surface of a metal, in which the method includes: performing a laser processing along a route between pin regions in which the pins are to be formed on a metal base material to form a dross on the pin regions, and repeating the laser processing. As the dross formed in each pin region is repeatedly cast and recast during the repetitive laser processing, the recast layer is formed in a shape of the pin.