Here is an idea: make the rotating part dead (like mollusk shell), and use muscles to push a paddle to add impulse to rotation, like pedaling a bicycle. Should be doable.
https://hisdarkmaterials.fandom.com/wiki/Mulefa
> The most notable feature of the mulefa was their use of seed pods as wheels. Once a zalif reached puberty, they were able to fit their spurs into the disc-shaped pods, and propelled themselves along "roads" of solidified lava with their side legs.