Abstract In this paper, we propose a mathematical model for the kinematics of a hybrid robot, called Wheeleg. The wheeled-legged robot has two pneumatically actuated front legs, each with three degrees of freedom, and two rear wheels independently actuated. Based on the proposed model, the dynamics equations of the manipulator are developed using the natural orthogonal complement method. Equations are implemented in an algorithm used to study the kinematics and the dynamics of the mobile robot. Simulations are provided to demonstrate the method developed. Successively, a brief description is given of the control architecture designed and implemented. In conclusion, some experimental tests of the motion on the horizontal plane are reported.