“…It has good mobility. A wheel-legged robot with a variable attitude robot mechanism was designed in [39], enabling the robot to conduct various configurations and omnidirectional motion. However, only its wheels come into contact with the ground, which results in slightly poor obstacle- The wheel-legged robot is a hybrid mobile robot with an excellent obstacle-crossing ability [5,6,9,[25][26][27][28][29][30][31], great movement performance [1,[5][6][7]25,26], efficient and stable operation [1,[25][26][27], etc., and has attracted the attention of many researchers.…”