Parcel delivery method, using a delivery van and at least one delivery robot

A parcel delivery method, using a delivery van transporting at least one autonomous ground delivery robot to a place of arrival, wherein the delivery robot comprises a torso with integrated electronics and attached container and at least individual and independently controllable wheeled legs, each comprising a hip joint, an upper leg, a knee joint, a lower leg, and a wheel with associated motor, wherein the delivery robot can deliver parcels from a loading area of the delivery van to a customer’s location,

• wherein movement steps of the delivery robot are controlled by the electronics, and
• wherein the parcel delivery method comprises:
• jumping out of the delivery robot with the container and loaded parcel from the loading area
• landing with the wheeled legs and associated wheels on the ground, whereby the electronics ensures the balancing on the ground, via control of the wheel motors, the hip joints and the knee joints
• rolling of delivery robot to the customer location and delivering the parcel, before
• returning of the delivery robot back to the delivery van and subsequent
• autonomous climbing back of the delivery robot with the wheeled legs in four gait cycles, each comprising a swing phase of a wheeled leg, with controlled wheel leg lift and subsequent placement of the wheeled leg on the loading area, followed by a rolling phase of all wheels of all wheeled legs either on the ground or the loading area, until the delivery robot with all wheeled legs is moved to a parking space in the interior.