Most existing robots designed to move on the ground rely on either wheels or legs, as opposed to a combination of the two. Yet robots that can seamlessly switch between wheeled and legged locomotion could be highly advantageous, as they could move more efficiently on a wider range of terrains, which could in turn contribute to the successful completion of missions.Most existing robots designed to move on the ground rely on either wheels or legs, as opposed to a combination of the two. Yet robots that can seamlessly switch between wheeled and legged locomotion could be highly advantageous, as they could move more efficiently on a wider range of terrains, which could in turn contribute to the successful completion of missions.[#item_full_content]