Wheeled-legged humanoid robots combine the mobility of wheels with the versatility of legs. offering significant advantages for locomotion. This paper proposes a hierarchical control framework for such robots. using a two-wheeled inverted pendulum with a roll joint (TWIP-R) as a template model. https://www.hindigyanvishv.com/special-deal-Fluffy-White-Feather-Tinsel-Angel-Halo-quick-deal/