Abstract: A multi-stage spherical motor includes an inner stator, an outer stator, a rotor, and magnets. The inner stator has a plurality of inner stator windings wound thereon. The outer stator is spaced apart from and at least partially surrounds the inner stator, and has a plurality of outer stator windings wound thereon. The rotor is disposed between the inner stator and the outer stator and is configured to rotate about a plurality of perpendicular axes. The rotor has an inner surface and an outer surface. An inner array of magnets is coupled to the inner surface of the rotor, and an outer array of magnets coupled to the outer surface of the rotor. In some embodiments, a multi-stage spherical motor includes an inner rotor, an outer rotor, a stator, inner stator coils, and outer stator coils.