Three fundamental locomotion configurations recognized commonly are legged, wheeled,
and articulated mechanisms using which a mobile robot can navigate terrains. Hybrid configurations
enable execution of different locomotion types separately and in combinations. Such advantage usually
implies complexity and necessity in a robust supervisory controller capable of terrain recognition and
locomotion strategy selection. We developed the Nazarbayev University (NU) Hybrid Quadruped (Fig. 1)
- mobile robot with four legs and wheels. Project's major novelty is the implementation of the supervisory
controller which selects a locomotion mode associated with particular terrain types based on its terrain
recognizer input data
