The Asguard robot is commonly described as a hybrid between a wheeled system and a walking system. This poses the question in how far it can be characterised to resemble a quadruped (such as most vertebrate land animals) and to what degree it is valid to treat it as a four-wheeled vehicle - a distinction essential for the robots motion behaviour.
This thesis aims to explore possible motion patterns of Asguard in a simulation environment, using a bio-inspired approach - an Evolutionary Strategy - to achieve an improvement of the robots motion. Furthermore, the results of these tests will be analysed to get new insights into the robots general motion behaviour.