 In order to achieve a forward straight line motion, the ballbot has to lean forward to accelerate and lean backward to decelerate.Further, the ballbot has to lean into curves in order to compensate for centripetal forces, which results in elegant and graceful motions.Unlike two-wheeled balancing mobile robots like Segway that balance in one direction but cannot move in the lateral direction, the ballbot is omni-directional and hence, can roll in any direction.