Abstract: Aiming at the deficiency of the operation ability of the spherical robot,a novel spherical mobile robot(BYQ-IV) with telescopic manipulator is presented.The mechanical architecture of the robot is described and analyzed in detail.The distributed wireless motion-control system and human-robot wireless communication system based on ad hoc networks are given,and the motion control method based on state feedback is introduced.Finally,the validity of the design and control method is shown by the experiments on the robot prototype.