Before revision:  Due to the real-time joint velocity and ground reaction force optimization based on a kinodynamic model , our approachaccurately captures the real robot's dynamics and automatically discovers complex and dynamic motions cumbersome to hand-craft through heuristics.
After revision:  Due to the real-time joint velocity and ground reaction force optimization based on a kinodynamic model of a wheeled quadrupedal robot. It defines the single rigid body dynamics along with the robot's kinematics while treating the wheels as moving ground contacts. With this approach, we can accurately capture the robot's dynamics and automatically discovers complex and dynamic motions cumbersome to hand-craft through heuristics.