The present application discloses a method and apparatus for a multipoint video conferencing system that can offer a wide variety of layouts and the ability to support a large number of conferees. For low current loads, the hysteretic modulator is selected; for high current loads, the PWM is selected. The first feature is automatically updated to reflect a current value of the second feature. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan. The seat further includes a first anchor member and a second anchor member each having a first end mechanically coupled to the body and a second end selectively attachable to corresponding anchoring points of functional primary seat. The roll control input is configured to cause the central rod to rotate within the barrel.