WHEEL STRUCTURE AND METHOD OF CONTROLLING WHEEL STRUCTURE

Disclosed is a wheel structure including a first hub member, a plurality of spokes that are provided in a circumferential direction (C) of the first hub member, protrude outward from the first hub member in an outward direction (R) intersecting the circumferential direction (C), and have sides coupled to the first hub member, guide parts to which the plurality of spokes are slidably coupled, and a second hub member to which sides of the guide parts are rotatably coupled, wherein the plurality of spokes include a rotation spoke rotatably coupled to the first hub member.