High mobility robot with wheeled limbs and passive suspension

A method for controlling a mobile platform, comprising:

• causing, by a circuit, the mobile platform to traverse terrain;
• allowing rotation of a plurality of body parts of the chassis as the mobile platform traverses the terrain, the chassis extending in a longitudinal direction from a back end to a front end and extending in lateral directions from a platform centerline to two opposing lateral sides;
• actuating, by the circuit, a first mechanical joint provided at a first point of articulation between the chassis and an upper limb member of a limb of a plurality of limbs coupled to the chassis;
• actuating, by the circuit, a second mechanical joint provided at a second point of articulation where the upper limb member meets a lower limb member of the limb;
• and
• wherein said causing comprises actuating at least one of a first wheel connected to a first end of the lower limb member and a second wheel connected to an opposing second end of the lower limb member;
• wherein the second mechanical joint is located between the first and second wheels.