Design and implementation of a novel spherical robot with rolling and leaping capability

•Development of a spherical robot that can leap while rolls.•Using a five-bar linkage mechanism and a release/retract mechanism for leaping.•Using a differential drive to actuate two semi spheres for rolling and turning.•Dynamics of rolling and leaping are analyzed.•The robot can leap up to 1.14-times of radius to overcome a barrier while rolls.