Abstract: The goal is to build and stabilize a robot balancing on twin balls. The robot consists of six omni wheels in a special configuration standing on twin balls which gives it inverse pendulum dynamics. The robot is stabilized by rotating the wheels which makes it move in the xy-plane. First, the kinematics of omni wheels was investigated by studying different mounting configurations on platforms moving on the ground. The robot was built to verify and visualize the kinematics and special properties of omni wheels. The model is derived from energy equations and using Euler-Lagrange formulation. The energy equations are potential and kinetic energies. The obtained equations relate torque to Twin Spherical Balls Robot parameters.