Conventional control schemes employed for controlling the wheeled humanoid robot consume more computational time due to large number of calculations. A kinematic control scheme with better computational efficiency adopted for controlling wheeled humanoid robot is presented in this paper. The upper body humanoid robot consists of 15 degrees of freedom (dof) and mobile platform consists of 2 actuated wheels. The kinematic control strategies along with PID controllers are implemented using two separate loops for the upper body and mobile robot controls. Simulations are carried out to prove the advantages of the proposed control algorithm for a wheeled humanoid robot.Conventional control schemes employed for controlling the wheeled humanoid robot consume more computational time due to large number of calculations. A kinematic control scheme with better computational efficiency adopted for controlling wheeled humanoid robot is presented in this paper. The upper body humanoid robot consists of 15 degrees of freedom (dof) and mobile platform consists of 2 actuated wheels. The kinematic control strategies along with PID controllers are implemented using two separate loops for the upper body and mobile robot controls. Simulations are carried out to prove the advantages of the proposed control algorithm for a wheeled humanoid robot.