Abstract
Wheel mechanism is applied to many mobile robots. The reason is that high efficiency is realized by wheels on the level ground. However, wheels are not suitable for running of the non-level ground . Therefore, research and development of the new wheel mechanism are expected with interest .But the area of studies aim to climbing step at a right angle, not do at an oblique angle. Here this paper, tried to investigate wheel shape by extracting parameters for traveling step at an oblique angle. From the experiment, we get the result that the wheel shape combined two shapes ,parabola and oval, is suitable for running at an oblique angle.
