Self-propelled particles have been experimentally shown to orbit spherical obstacles and move along surfaces. Here, we theoretically and numerically investigate this behavior for a hydrodynamic squirmer interacting with spherical objects and flat walls using three different methods of approximately solving the Stokes equations: The method of reflections, which is accurate in the far field; lubrication theory, which describes the close-to-contact behavior; and a lattice Boltzmann solver that accurately accounts for near-field flows. The method of reflections predicts three distinct behaviors: orbiting/sliding, scattering, and hovering, with orbiting being favored for lower curvature as in the literature. Surprisingly, it also shows backward orbiting/sliding for sufficiently strong pushers, caused by fluid recirculation in the gap between the squirmer and the obstacle leading to strong forces opposing forward motion. Lubrication theory instead suggests that only hovering is a stable point for the dynamics. We therefore employ lattice Boltzmann to resolve this discrepancy and we qualitatively reproduce the richer far-field predictions. Our results thus provide insight into a possible mechanism of mobility reversal mediated solely through hydrodynamic interactions with a surface. mers 19 . In addition, chemical patterning of the surface has been shown to significantly modify the mobility of a chemical swimmer 37-41 . These man-made swimmers can also follow strongly curved surfaces, even leading them to orbit around spherical obstacles 16,18 .The orbiting of swimmers has been studied extensively using hydrodynamic descriptions 23,42 . In the far field, the associated hydrodynamic problem is typically solved using the methodof-reflections approximation 20 and Faxén's law 43,44 . Spagnolie et al. 23 account for the leading-order hydrodynamic force-dipole moment in their analysis and find that there is a critical radius for orbiting. Only pusher swimmers -ones that have an extensile flow field -enter such a trajectory 23 ; pullers on the other hand are trapped in a 'hovering' state, wherein they point straight into the surface. However, the methods of reflections is known to break down for small swimmer-obstacle separations 22 .In the lubrication regime, which captures the behavior for vanishing gap sizes, a swimmer's ability to follow a path along a planar wall has been examined 45,46 . Specifically, Lintuvuori et al. 45 studied a squirmer, which is a simple model swimmer that accounts for finite-size contributions to the flow field. The results for a squirmer near a flat wall may be readily transferred to orbiting around objects with low curvature. Unfortunately, lubrication theory does not provide substantial insight other than for the hovering state, wherein the swimmer's direction of motion is into the obstacle and no tangential displacement occurs. J o u r n a l N a me , [ y e a r ] , [ v o l . ] , 1-13 | 1 arXiv:1904.02630v4 [cond-mat.soft] 3 Jul 2019 2 | 1-13 J o u r n a l N a me , [ y e a r ] , [ v o l . ] , *...