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.markbroyard.com/super-value-krowne-18-x84-back-bar-drain-board-and-sink-sale-limited-save/