To provide a structure and control technology for a wheel taking in and out legs effective for a barrier-free vehicle eliminating problems of a wheel type moving device easily affected by road surface condition.

With the wheel structure of taking in and out a plurality of legs 5, a gripping force and a grounding area suitable to each of flat ground, irregular ground, soft ground, swamp, grassland, soil surface, sand surface, floor surface, snow surface, and frozen surface are generated, intended purpose of the legs 5 is changed selectively according to necessity, and movement automatically achieving a same object is ensured using output of a gravity sensor even when the slope of a road surface changes on the way. Found out is the structure and control of a wheel for a barrier-free moving device for extending the scope of action of elderly people and lower limb handicapped people reducing the chances of walking out worrying slipping and falling on a hardened snow road and frozen road in winter and liable to fall gloomy, and assisting wheelchair users in positively joining society.

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