Here is a platform that makes it possible for to dance with a Baxter robot. Ridgeback is an omnidirectional mobile platform that moves manipulators and heavy payloads. It comes with an onboard computer, front and optional rear laser scanners and an IMU. Ridgeback offers ROS and Gazebo integration.
This solution has omnidirectional Mecanum wheels and a low profile. You can customize it for your projects. The above video shows it used to make dancing with a Baxter possible.