Fig. 9
From: RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility
Clockwise movement of the rim. (a) Shows the schematic diagram for the case where \(dl_1-dl_4<l_2\) when the rim is turned clockwise; (b) shows the schematic diagram for the case where \(dl_1-dl_4>l_2\) when the rim is turned clockwise.
