The Ascento 2 robot is an example of how to control and balance a robot that has both wheels and legs. This type of robot combines the advantages of both for efficient and agile movement over different terrains. Wheeled bipedal robots are a promising option for mobile ground robot deployment, as they can provide the speed and efficiency of wheels with the versatility and strength of legs. However, achieving balance and efficient movement in these systems is a challenging task that requires advanced control techniques due to the complex and nonlinear dynamics of these robots.