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This paper addresses the control of a hybrid wheellegged system evolving on rough terrain. First, the posture and trajectory parameters are introduced. Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, the performance and feasibility of the control algorithm are evaluated through simulations and experiments with the Hylos robot. 1 the number of actuated degrees of freedom is greater than the dimension of the system workspacedoi:10.1109/robot.2004.1302528 dblp:conf/icra/GrandAPB04 fatcat:keh7esazv5cr3gnczzbu6moqtu