Abstract: The present invention relates to a robot (1) capable of moving on the ground by means of a spherical wheel (2) suitable for rolling on the ground, the robot (1) comprising a trunk (4), at least one arm (5) and an upper part (6), the trunk (4) being connected to the platform (3) and to the upper part (6), characterized in that the robot (1) can move by tilting between a straight position and a tilted position, the trunk (4) of the robot (1) comprising a first portion (40) and a second portion (41), the trunk (4) being configured to maintain the position of the center of mass (7) of the robot (1) so as to allow the robot (1) to tilt towards the ground.