Before revision:  Aperiodic gait sequences are automatically found through kinematic leg utilities without the need for predefined contact and lift-off timings . Also, this enables us to reduce the cost of transport of wheeled-legged robots significantly .
After revision:  Aperiodic gait sequences are automatically found through kinematic leg utilities without the need for predefined contact and lift-off timings , reducing the cost of transport of wheeled-legged robots significantly .