Resilient wheel assemblies

A flipper structure for a vehicle, the flipper structure comprising:

• an arm having a proximal end and a distal end;
• a plurality of legs coupled to the proximal end of the arm;
• and
• an attachment base coupled to the plurality of legs,
• wherein the legs and attachment base comprise a four-bar linkage, and
• wherein the four-bar linkage is configured to allow translation of the arm during impacts and provide rotational stiffness to the arm to lift the vehicle.

A wheel assembly for a remote vehicle, the wheel assembly comprising:

• a wheel structure comprising a plurality of spokes interconnecting a rim and a hub, the spokes comprising at least one slit extending therethrough radially inward from the rim to the hub;
• a flipper structure comprising an arm, a plurality of legs, and an attachment base, the plurality of legs and the attachment base comprising a four-bar linkage;
• and
• an insert comprising a bore with a flat surface that tapers outward from a top portion of the insert to a bottom portion of the insert, the insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle,
• wherein the insert is configured to prevent backlash between the axle and the flipper structure,
• wherein the flipper structure is configured to transmit axial forces to the wheel structure, and
• wherein the wheel structure is configured to absorb radial and axial forces.