Provided are a wheel structure with which pinching of a finger is alleviated by means of a method different from a conventional method, and a robot provided with the same. This wheel structure is provided with a wheel 120, and a cover 122 partially covering the wheel 120, wherein, in the cover 122, an end portion 124F intersecting the circumferential direction of the wheel 120 has a wavelike shape, and includes a protruding portion which forms the wavelike shape and serves as a contacting portion that comes into contact, in a range narrower than the width of the wheel 120, with a finger moving in the circumferential direction of the wheel 120 as the wheel 120 rotates.