An airless flexible tire comprising a belt, drive lugs, and traction lugs. The drive lugs extend inwardly from the belt and form annularly spaced, rigid, high torque points. The traction lugs extend outwardly from the belt and are annularly offset from the drive lugs so as to form flexible sections that deflect radially inwardly when the tire engages the ground. Each traction lug has an effective height as a function of its actual height, the angle that the traction lug extends relative to a radial axis, the angle of the traction lug's distal surface, and the amount the tire deflects radially inwardly near the traction lug so as to at least partially equalize a rolling radius of the wheel to reduce torque generated near the high torque points.