 They showed that a variety of interesting human-robot physical interaction behaviors can be developed with the ballbot
, and presented planning and control algorithms to achieve fast, dynamic and graceful motions using the ballbot.They also demonstrated the ballbot's capability to autonomously navigate human environments to achieve point-point and surveillance tasks.A pair of two degrees of freedom (DOF) arms was added to the CMU Ballbot in 2011, making it the first and currently, the only ballbot in the world with arms.