To apply a spinning hemisphere as a mobile robot drive is an unconventional idea. Equipping a mobile robot with two such hemispheres brings to life a device with absolutely novel properties. In this paper we derive kinematics models of a mobile robot with two driving hemispheres, analyse shortly their properties, and adopt a control algorithm designed to follow a path. There are two kinematics models presented: the full model of the original system, and the model of the simplified system, equivalent to the original one. The second model is expressed in two different coordinate systems – the later allowing for the application of known control algorithms to drive the robot. The performance of the analysed algorithm is illustrated by computer simulations
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