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• A novel module capable of fast transforming its shape between a wheel and a leg. • The maximum leg length approximately 3.4 times the wheel radius. • Can perform wheel-to-leap behavior. • Leaping height up to 4.6 times the wheel radius. We report on the development of a novel two-degrees-of-freedom module capable of transforming its shape between a wheel and a leg, with the length of the latter approximately 3.4 times the wheel radius. The leg-wheel module was empirically built and experimentally evaluated. It utilizes a linkage mechanism and can perform a smooth yet rapid leg-wheel transition within 0.25 s. The design concept, selection of the linkage parameters, and kinematics are described in this paper. The rapid transition from a wheel to a leg endows the robot with wheel-to-leap behavior. The general motion planning strategy of the leg-wheel, as well as the wheel-to-leap behavior, are explained in the demonstration example. The results confirm that the module can perform wheel-to-leap behavior with a height of up to 4.6 times the wheel radius. [ABSTRACT FROM AUTHOR]