This was for Henrik Christensen's "Mobile Manipulation" class. We developed software, and put it into practice with extensive testing, for a dynamically-balancing Segway robot with a 6-axis arm and gripper. The robot located a coffee cup and coffee maker using vision, filled the cup with coffee, and return the coffee to the user. Particle filters and layered control techniques made our method robust, and our robot completed all 3 trials with no failures.