  Humanoid robots have the potential to help human workers by realizing
physically demanding manipulation tasks such as moving large boxes within
warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This
paper presents a framework for DMM via whole-body teleoperation, built upon
three key contributions: Firstly, a teleoperation framework employing a Human
Machine Interface (HMI) and a bi-wheeled humanoid, SATYRR, is proposed.
Secondly, the study introduces a dynamic locomotion mapping, utilizing
human-robot reduced order models, and a kinematic retargeting strategy for
manipulation tasks. Additionally, the paper discusses the role of whole-body
haptic feedback for wheeled humanoid control. Finally, the system's
effectiveness and mappings for DMM are validated through locomanipulation
experiments and heavy box pushing tasks. Here we show two forms of DMM:
grasping a target moving at an average speed of 0.4 m/s, and pushing boxes
weighing up to 105\% of the robot's weight. By simultaneously adjusting their
pitch and using their arms, the pilot adjusts the robot pose to apply larger
contact forces and move a heavy box at a constant velocity of 0.2 m/s.
