A variety of robots inspired by humans have been introduced in recent years. Many of them are conceived as structurally flexible and with elastic parts. Deformable components can be smaller than rigid ones, resulting in a lightening of the structure. They can also store energy and release it at a later time resulting in a more energy-efficient solution. Biped robots can walk not only on a flat floor but also on uneven environments and stairs among challenging situations. However, walking is not an easy way to move because it requires many joints and complicated control structures. On the other hand,wheeled robots are widely used for flat terrain because of high stability, high efficiency, and simple controller, nevertheless, they suffer from several limitations that reduce their application.