A new transformable wheel based on membrane origami, capable of bearing over 10 kN, has been developed by using a thick membrane and a design methodology that addresses both geometric and physical characteristics. The study validates the wheel's capability for high-payload applications, including its successful use in a passenger vehicle.

D.-Y. Lee, J.-K. Kim, C.-Y. Sohn, J.-M. Heo, K.-J. Cho, “High load capacity origami transformable wheel,” Science Robotics, vol. 6, no. 53, 2021. <Science Robotics Cover>