Mobile human interface robot

A mobile human interface robot (100) that includes a base (120) defining a vertical center axis (Z) and a forward drive direction (F) and a holonomic drive system (200) supported by the base. The drive system has first, second and third driven drive wheels (210a, 210b, 201 c), each trilaterally spaced about the vertical center axis. The robot further includes a controller (500) in communication with the holonomic drive system, a torso (140) supported about the base, and a touch sensor system (480) in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.