History doesn’t relate who invented the wheel, but some of the earliest examples of wheels employed on furniture were in the mid 1600s under heavy trundle beds.
Castors (wheel assemblies whose wheel axes are offset from the vertical axes about which they pivot) first appeared in the late seventeenth-century and were in widespread use by the early eighteenth-century, beneath chairs, settees, tables etc. – anywhere manoeuvrability was desirable.
Reinventing the wheel
In their latest comedy instalment, Horton Brasses make a somewhat different attribution:-