The thesis focuses on the advances in the design, performance analysis and control strategy of a spherical rover actuated by a 2-dof pendulum. Designed for space exploration, the choice of rover's spherical shape offers several advantages. The presence of a continuous solid shell provides effective protection for the internal mechanism and makes the rover suitable for harsh environments, as it is immune to overturning and efficient in absorbing impacts. The design goals include the ability to move at a constant speed over 15º slope surfaces incline and to overcome 10-cm-height steps. To address the inherent limitations of the design, a gyroscope system is included.