A robot that includes a plurality of roller assemblies. Each roller assembly
may
include a transmission roller that is spun by a drive mechanism to rotate a drive
ball. Rotation of the drive ball propels the robot across a surface. The transmission
roller is in continuous contact with the drive ball. Continuous contact between
the roller and ball eliminates roller induced wobble in the robot movement, reduces
impact forces and resultant stress within the roller assembly and allows for the
use of a drive ball that is more complaint than balls in the prior art.
