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Unlike conventional wheeled\u2010legged robot control methods that rely on external swing joints, the proposed framework leverages differential wheel actuation while comprehensively accounting for the robot\u2010environment coupling effects under high\u2010speed conditions, enabling efficient and stable high\u2010speed steering. First, a hierarchical wheel\u2010terrain contact dynamics model and a skid\u2010steering kinematics model are established for wheeled\u2010legged robots with skid\u2010steering. By combining switched\u2010system skid\u2010steering kinematics with refined wheel\u2013environment interaction dynamics, the framework effectively addresses active wheel torque control during high\u2010speed steering. Second, a skid\u2010steering\u2010based motion paradigm is introduced, which co\u2010optimizes legged dynamics and wheeled skid\u2010steering kinematics, eliminating the need for continuous leg\u2010lifting maneuvers to generate lateral forces and ensuring smooth high\u2010speed steering. Finally, extensive experiments conducted in challenging environments\u2014including staircases, trenches, ramps, single\u2010side bridges, and unpaved terrains\u2014validate the robustness and efficacy of the proposed approach. Comparative studies with state\u2010of\u2010the\u2010art wheeled\u2010legged control methods further demonstrate the superior mobility performance and enhanced wheel\u2013terrain interaction dynamics achieved by our framework.<\/jats:p>","DOI":"10.1002\/rob.70216","type":"journal-article","created":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T03:56:10Z","timestamp":1776052570000},"page":"3711-3726","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["4SWLR: A Switched System and Skid Steer Integrated Whole\u2010Body Control Framework for Wheeled\u2010Legged Robots"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3226-7917","authenticated-orcid":false,"given":"Mingfan","family":"Xu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziyi","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chuyan","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yechen","family":"Qin","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,4,12]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2601308"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2021.3136142"},{"key":"e_1_2_9_4_1","doi-asserted-by":"crossref","unstructured":"Bellicoso C. D. C.Gehring J.Hwangbo P.Fankhauser andM.Hutter.2016. \u201cPerception\u2010Less Terrain Adaptation Through Whole Body Control and Hierarchical Optimization.\u201d In2016 IEEE\u2010RAS 16th International Conference on Humanoid Robots (Humanoids) 558\u2013564.IEEE.","DOI":"10.1109\/HUMANOIDS.2016.7803330"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2899750"},{"key":"e_1_2_9_6_1","doi-asserted-by":"crossref","unstructured":"Bjelonic M. C. D.Bellicoso M. E.Tiryaki andM.Hutter.2018. \u201cSkating With a Force Controlled Quadrupedal Robot.\u201d In2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) 7555\u20137561.IEEE.","DOI":"10.1109\/IROS.2018.8594504"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649221102473"},{"key":"e_1_2_9_8_1","doi-asserted-by":"crossref","unstructured":"Bjelonic M. 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