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Following common mechatronic design methodology VDI 2206, this paper introduces three different variants of wheg design. During construction focus was placed on a smooth locomotion of all wheg-mechanisms over flat terrain, which means low alternation of CoM in vertical direction y (in the following addressed as ‘quietness’ of a wheg) as well as the ability to overcome obstacles. Subject to the number of spokes, quietness and theoretically manageable obstacle height were calculated. The results were taken as reference for experimental evaluation of each variant and a successive comparison. The phase shifting double wheg, is described in further detail.