The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong, obstacle-crossing performance associated with legged motion. These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue, military operations, and wilderness exploration. Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes, and the latest technology research status is summarized in this paper. The hardware control system, control method, and application are analyzed, and the dynamic balance control for the two-wheel, biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed. In summary, it is observed that the current research exhibits problems, such as the insufficient application of novel materials and a rigid–flexible coupling design; the limited application of the advanced, intelligent control methods; the inadequate understanding of the bionic jumping mechanisms in robot legs; and the insufficient coordination ability of the multi-modal motion, which do not exhibit practical application for the wheel-legged biped robots. Finally, this study discusses the key research directions and development trends for the wheel-legged biped robots.

轮腿双足机器人是一种典型的地面移动机器人，它结合了轮式运动的高速度、高效率和腿式运动的强大越障性能。这些机器人在废墟救援、军事行动、荒野探险等各种恶劣场景中逐渐展现出令人满意的应用潜力。轮足双足机器人根据开闭链结构形式和作业任务模式分为四类，并总结了最新技术研究现状。分析了硬件控制系统、控制方法和应用，重点分析了两轮动平衡控制、腿部仿生跳跃控制和轮腿一体化全身控制。综上所述，目前的研究存在新型材料应用不足、刚柔耦合设计不足等问题；先进的智能控制方法的应用有限；对机器人腿的仿生跳跃机制了解不够；多模态运动的协调能力不足，导致轮腿双足机器人没有实际应用。最后，本研究讨论了轮足双足机器人的重点研究方向和发展趋势。