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This study presents a control framework for a bipedal wheel\u2010legged robot (BWLR) to enable stable locomotion and posture transitions on uneven and inclined terrains. An adaptive Fuzzy\u2010linear quadratic regulator (Fuzzy\u2010LQR) controller is presented, where a fuzzy supervisory layer dynamically tunes the LQR gains and estimates the center of mass (CoM) using intermediate postures. Additionally, a proportional\u2010derivative (PD)\u2010based hip stabilization controller is integrated to regulate the roll angle via coordinated hip joint actuation, enhancing balance on uneven surfaces. The framework is implemented in a Robot Operating System (ROS)2\u2010based architecture with torque\u2010level joint control. Its effectiveness is validated through high\u2010fidelity simulations in ROS2\u2013Gazebo and real\u2010world experiments on a physical BWLR prototype, including detailed aspects of multiplugin integration and torque\u2010feedback hip control. Results demonstrate robust height adaptation during locomotion and stable balance on inclined terrain, highlighting the adaptability of the combined Fuzzy\u2010LQR and PD approach for wheel\u2010legged robotic systems.<\/jats:p>","DOI":"10.1155\/joro\/7752149","type":"journal-article","created":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T05:05:57Z","timestamp":1777007157000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive Fuzzy\u2010LQR for Stability Control of Bipedal Wheel\u2010Legged Robots on Variable Terrain"],"prefix":"10.1155","volume":"2026","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6684-0681","authenticated-orcid":false,"given":"Duc Thien","family":"Tran","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minh Hoang","family":"Tran","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ngoc Huy","family":"Nguyen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Quoc Thanh","family":"Truong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2026,4,23]]},"reference":[{"key":"e_1_2_12_1_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.birob.2024.100182"},{"key":"e_1_2_12_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.dt.2021.04.013"},{"key":"e_1_2_12_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105237"},{"key":"e_1_2_12_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3548134"},{"key":"e_1_2_12_5_2","doi-asserted-by":"publisher","DOI":"10.18196\/jrc.v4i4.18208"},{"key":"e_1_2_12_6_2","doi-asserted-by":"crossref","unstructured":"LiJ.andNguyenQ. 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