<p>This paper investigates the kinematic modeling and posture control of a dual-rocker wheel-legged robot with an emphasis on engineering-oriented implementation. A single-leg inverse kinematics model is established to analytically describe the relationship between hip joint angles and end-effector positions. Based on the derived kinematic characteristics, the trajectory properties of leg-lifting and jump preparation motions are analyzed, and a leg-height-dependent gain-scheduled PID control strategy is proposed to improve balance stability under variable-height conditions. Furthermore, a center-of-mass (CoM) transformation method is introduced for pre-jump posture adjustment, enabling regulation of take-off force distribution and jump direction without relying on complex full-body dynamic optimization. The proposed methods are validated through Matlab–Simulink and Adams co-simulations, and a preliminary hardware experiment is conducted to qualitatively verify the feasibility of the control strategy under leg-height variation. The results demonstrate that the proposed control framework achieves stable posture regulation and improved robustness across a wide range of leg configurations, while maintaining low computational complexity. This study provides a practical and implementable control solution for lightweight and resource-constrained wheel-legged robotic platforms.</p>