A novel highly mobile small robot is described

which benefitted from abstracted locomotion principles of cockroach.The different from the conventional robots are the three spoked appendages

which combine the speed and simplicity of wheels with the climbing mobility of legs.The robot uses four three-spoke appendage in an alternating diagonal gait.When a spoke of a leg completes its stance phase

another spoke on the same leg is two-thirds of the way through its swing phase and nearing stance

and the third spoke（the last to complete stance） is one-third of the way through its swing phase.A single motor can be used to drive all three-spoke appendage through chains and sprockets.So the robot has the advantage of simplicity and yet they can run quickly and climb large obstacles.