Mobile robot having a spherical wheel and comprising an articulated trunk

A robot having a single spherical wheel for movement, configured to be in contact with the ground, and a platform mounted on the spherical wheel via stabilizing means, the robot being configured to be mobile on the ground by means of the spherical wheel suitable for rolling on the ground, the robot having a trunk, at least one arm and an upper part, said trunk being connected to the platform as well as to the upper part, the arm being connected by means of at least one pin joint or at least one ball-and-socket joint to said trunk, wherein said robot is tiltably movable between a straight position and a tilted position, said trunk of said robot having a first portion and a second portion, the first portion being connected by a first end to said platform at least by means of a pin joint or a ball-and-socket joint, the second portion being connected by a first end to the upper part and the first portion being connected by a second end to a second end of the second portion at least by means of a pin joint or a ball-and-socket joint, said trunk being configured to maintain the position of the center of mass of the robot so as to allow said robot to tilt towards the ground.