  Applications of mobile ground robots demand high speed and agility while
navigating in complex indoor environments. These present an ongoing challenge
in mobile robotics. A system with these specifications would be of great use
for a wide range of indoor inspection tasks. This paper introduces Ascento, a
compact wheeled bipedal robot that is able to move quickly on flat terrain, and
to overcome obstacles by jumping. The mechanical design and overall
architecture of the system is presented, as well as the development of various
controllers for different scenarios. A series of experiments with the final
prototype system validate these behaviors in realistic scenarios.
