Serving　the　Stewart　mechanism　as　a　wheel-legged　structure,the　most　outstanding　superiority　of　the　proposed　wheel-legged　hybrid　robot(WLHR)is　the　active　vibration　isolation　function　during　rolling　on　rugged　terrain.However,it　is　difficult　to　obtain　its　precise　dynamic　model,because　of　the　nonlinearity　and　uncertainty　of　the　heavy　robot.This　paper　presents　a　dynamic　control　framework　with　a　decentralized　structure　for　single　wheel-leg,position　track-ing　based　on　model　predictive　control(MPC)and　adaptive　impedance　module　from　inside　to　outside.Through　the　Newton-Euler　dynamic　model　of　the　Stewart　mechanism,the　controller　first　creates　a　predictive　model　by　combin-ing　Newton-Raphson　iteration　of　forward　kinematic　and　inverse　kinematic　calculation　of　Stewart.The　actuating　force　naturally　enables　each　strut　to　stretch　and　retract,thereby　realizing　six　degrees-of-freedom(6-DOFs)position-tracking　for　Stewart　wheel-leg.The　adaptive　impedance　control　in　the　outermost　loop　adjusts　environmental　impedance　parameters　by　current　position　and　force　feedback　of　wheel-leg　along　Z-axis.This　adjustment　allows　the　robot　to　adequately　control　the　desired　support　force　tracking,isolating　the　robot　body　from　vibration　that　is　generated　from　unknown　terrain.The　availability　of　the　proposed　control　methodology　on　a　physical　prototype　is　demonstrated　by　tracking　a　Bezier　curve　and　active　vibration　isolation　while　the　robot　is　rolling　on　decelerate　strips.By　comparing　the　proportional　and　integral(PI)and　constant　impedance　controllers,better　performance　of　the　proposed　algorithm　was　operated　and　evaluated　through　displacement　and　force　sensors　internally-installed　in　each　cylinder,as　well　as　an　inertial　measurement　unit(IMU)mounted　on　the　robot　body.The　proposed　algorithm　structure　significantly　enhances　the　control　accuracy　and　vibration　isolation　capacity　of　parallel　wheel-legged　robot.