Omnicron (2011 - now)

Omnicron is a spherical robot with singularity-free omnidirectional locomotion ability. Instead of using a single driven ball as in its predessor OmniQiu, the robot utilizes three omnidirectional wheels to drive its spherical shell. Three wheels are controlled independently, thus achieving 3-DOF planar locomotion by simple 3 to 3 mapping.