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This paper presents a modeling method called "Wheel-Center Modeling" for kinematics of a wheeled mobile robot that moves on uneven terrain. The technique is verified by analyzing the special locomotion characteristics of the multi-rigid body and wheels of a wheeled mobile robot. A six-wheeled mobile robot with the called "Rocker-bogie" suspension has been modeled by using this method. The proposed method was verified by simulation where the robot moves on a flat plane.