Self-loading locomotion mechanism and application thereof

A locomotion mechanism comprising a minimum of three wheels divided into two subgroups of wheels, where sequential use of the adhesion capacity of one subgroup of wheels against a surface enables application of contact pressure for adhering another subgroup of wheels to the surface, with the role of different subgroups of wheels switching sequentially in the course of locomotion, and the contact pressure required for adhesion applied irrespective of the surface inclination, where:

• each wheel is rectangular or elliptical in shape, and is made of at least one of elastomeric, superelastic and elastic materials;
• wheels in each of the two subgroups are oriented perpendicular to the wheels in the other subgroup;
• wheels are centrally positioned on axles which drive them, with rotation of said axles powered by a motor;
• two plates are attached to each wheel, with a torsional spring used to attach each plate at one end to the wheel, where the two plates attached to each wheel are alternately contacting the surface during locomotion, and the contacting surface of said plates are covered with adhesive which provides for adhesion of plates to the surface followed by removal via a peeling action driven by said torsional springs, with each plate maintaining its orientation parallel to the surface during locomotion until it separates from the surface via peeling as the other plate attached to the wheel adheres to the surface;
• a rigid body carrying the axles and the wheels, which experience relatively small deformations, when compared with the deformations of said wheels, under the wheel forces transferred to the body via said axles.