God created legs for locomotion and man created wheels for the same purpose, which is one of the greatest inventions in the human era. Wheels are your best bet for robots as they are easy to design, implement and practical for robots that require speed. They also do not suffer from static or dynamic stability as the center of gravity of robot does not change when they are in motion or just standing still and do not require complex models, designs and algorithms.

The Wheels were selected on the factors and methods based on the degrees of freedom, weight distribution, wheel geometry, field material, and wheel material. Mainly it categories in disc wheels, Omni wheels, and mecanum wheels.