Rig to make wheel grip to floor

Hello, does anyone know of automatic rig to make a wheel roll correctly against the ground when you push the wheel along - so if you push the wheel forward along the floor by the distance equal to the circumference of the wheel, the wheel will rotate once?

Thanks

There used to be a really good youtube tutorial about it but I can’t locate it right now. This video is very similar to what I was looking for, it is a bit sped up. http://youtu.be/MDLUnZgq-Ok