Wheels that skate

Hello, lately I have dedicated myself to building a robot with arduino and I had several problems with the wheels due to skating, which caused them to lose strength and speed. I come to ask you if you have ideas to prevent them from slipping. Thank you.
I am currently using rubber orings and motors with box reductor.

The people who participate in robot competitions (the various robot battle competitions specifically) get really into finding the tire materials that provide the best traction, since this is a very important factor in their success. I would recommend researching the information that is available from the various sites targeted to those groups.

As pert says, you may get direct assistance from robotic groups.
Wheels, tyres and traction are pure physics.
Look into materials, diameter, surfaces, speed of rotation and tyre footprint.