 The CMU Ballbot plans motions in the space of body lean angles in order to achieve fast, dynamic and graceful ball motions.With the introduction of arms, CMU Ballbot uses its planning procedure to plan in the space of both body lean angles and arm angles to achieve desired ball motions.Moreover, it can also account for cases where the arms are constrained to certain specific motions and only body angles have to be used to achieve desired ball motions.