Dr. Amirhosssein Hosseinmemar successfully defended his Ph.D. dissertation, "Push Recovery and Active Balancing for Inexpensive Humanoid Robots" on August 28, 2019.  Everything went just as smoothly as we all expected it would.  Congratulations, Dr. Hosseinmemar, we are all very proud of you!!!  Here you can also see that Polaris has been retrofitted for some forthcoming musical activities.  Stay Tuned!