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.roneverhart.com/MagnaFlow-2003-2006-Toyota-Corolla-Street-Series-Cat-Back-Performance-Exhaust-System/