Legged robots, as mobile systems, have demonstrated remarkable potential in navigating rough and uneven surfaces. Their multi-limb structure allows for a versatile interaction with the environment, coping with terrain disturbances and deformations. However, the motion complexity could arise due to this articulated design. The robot CENTAURO employed in this thesis presents a considerable mass and dimension that reduces its agility. The introduction of wheels will ensure a simpler and less energy-consuming locomotion method. Controlling these robots requires strategies that must take into account the unstructured nature of the terrain. Position-based controllers struggle to adapt quickly and accurately to the irregular profile of the environment.