  Hybrid track/wheel-legged robots combine the advantages of wheel-based and
leg-based locomotion, granting adaptability across varied terrains through
efficient transitions between rolling and walking modes. However, automating
these transitions remains a significant challenge. In this paper, we introduce
a method designed for autonomous mode transition in a quadruped hybrid robot
with a track/wheel-legged configuration, especially during step negotiation.
Our approach hinges on a decision-making mechanism that evaluates the energy
efficiency of both locomotion modes using a proposed energy-based criterion. To
guarantee a smooth negotiation of steps, we incorporate two climbing gaits
designated for the assessment of energy usage in walking locomotion. Simulation
results validate the method's effectiveness, showing successful autonomous
transitions across steps of diverse heights. Our suggested approach has
universal applicability and can be modified to suit other hybrid robots of
similar mechanical configuration, provided their locomotion energy performance
is studied beforehand.
