Abstract: The present disclosure relates to a robot traveling device including a body part, a moving part that slidably moves in a longitudinal direction of the body part, a front end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, and a rear end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction.

Abstract: Disclosed is a wheel assembly including a main rotation part that is to be rotated about a first rotation axis, a power transmitting part that receives power from the main rotation part, and a variable rotation part that receives a rotational force from the power transmitting part to be rotated about a second rotation axis when the main rotation part is rotated, and to be moved relative to the main rotation part such that the first rotation axis and the second rotation axis overlap each other or are spaced apart from each other.

Abstract: Disclosed is a movable object which includes a wheel assembly including a main rotary part that rotates about a first rotational axis and a variable rotary part that moves relative to the main rotary part in a direction not aligned with the first rotational axis. The variable rotary part rotates at the same angular velocity as a main angular velocity when the main rotary part rotates, the main angular velocity being an angular velocity of the main rotary part.

Abstract: Disclosed is a wheel assembly including a driving rotation part being rotatable about a driving rotation axis that is a rotation axis that extends in one direction, and a variable rotation part being rotatable about a variable rotation axis that is an imaginary rotation axis, of which a relative location to the driving rotation axis is variable, and being movable relative to the driving rotation part along a direction that is not parallel to the one direction, wherein a relative location of the variable rotation axis to the driving rotation axis is variable when the variable rotation part is moved relative to the driving rotation part.

Abstract: Disclosed is a wheel structure including a first hub member, a plurality of spokes that are provided in a circumferential direction (C1) of the first hub member, protrude outward from the first hub member in an outward direction (R1) intersecting the circumferential direction (C1), and have sides coupled to the first hub member, guide parts to which the plurality of spokes are slidably coupled, and a second hub member to which sides of the guide parts are rotatably coupled, wherein the plurality of spokes include a rotation spoke rotatably coupled to the first hub member.

Abstract: A wheel structure includes a variable spoke configured to connect a wheel and a central shaft and having a length that varies in a radial direction of the wheel, a spoke driving unit configured to provide power for changing the length of the variable spoke in the radial direction, and a power transmission unit configured to transmit power from the spoke driving unit to the variable spoke. A plurality of variable spokes are spaced apart from one another in the circumferential direction. The power transmission unit includes an output shaft configured to rotate by receiving power from the spoke driving unit, and a clutch configured to connect the variable spoke and the output shaft and selectively transmit a rotational force of the output shaft to the variable spoke or cut off the transmission of the rotational force to the variable spoke.

Abstract: The present disclosure relates to a robot traveling device including a body part, a moving part that slidably moves in a longitudinal direction of the body part, a front end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, and a rear end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction.

Abstract: A driving apparatus having transformable wheels including: a drive unit generating forward/reverse torque; a wheel assembly traveling on the ground by receiving torque from the drive unit, the wheel assembly being variable in a diameter; a power transmission transmitting the forward/reverse torque generated by the drive unit to the wheel assembly in only one direction; and a mode switching unit changing the diameter of the wheel assembly depending on a rotation direction of the drive unit.