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.diegojavierfares.com/super-find-Frigorifico-combi-LG-GBB72MBUBN-No-frost-203-cm-Acero-antihuellas-texturizado-hot-choice/