Abstract In order to carry out the research project, which we call “Development of Intelligent Active Wheel,” a test facility of roller stand with 1/5 scaled truck is developed. Creep force characteristics between the roller rail and wheel at varied contact conditions are measured. From the measured results it is found that, in clean contact condition, creep force characteristics become negative as the creep rate becomes larger than 0.7%. In friction modifier high positive friction (HPF) applying condition, creep force characteristics do not show any negative property even if the creep rate increases up to 1.2%. The maximum F / Q , which is considered as friction coefficient at clean condition, is about 0.46, and the rate is about 0.16 at HPF applying condition as the creep rate increasing to about 1.2%.