Wheeled bipedal robots are nothing new. These robots can move faster on even ground and are in general more agile than regular bipedal robots. This video shows a locomotion controller for wheeled bipedal robots that enables them to rotate while going up and down. They can also stay stable on an angled surface.
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Wheeled Bipedal Robot
As you can see in this video, the robot can jump up a 20cm step.
[HT] [credit: C.-S. Hao]
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