diff --git a/include/aikido/robot/ConcreteManipulator.hpp b/include/aikido/robot/ConcreteManipulator.hpp
index c8c135b43b..0eeab6f14b 100644
--- a/include/aikido/robot/ConcreteManipulator.hpp
+++ b/include/aikido/robot/ConcreteManipulator.hpp
@@ -16,6 +16,11 @@ AIKIDO_DECLARE_POINTERS(ConcreteManipulator)
 class ConcreteManipulator : public Manipulator
 {
 public:
+  // Expose base class functions
+  using Robot::getMetaSkeleton;
+  using Robot::getStateSpace;
+  using Manipulator::getHand;
+
   /// Constructor.
   /// \param[in] robot Robot corresponding to this manipulator.
   /// \param[in] hand Hand of this manipulator.
diff --git a/include/aikido/robot/ConcreteRobot.hpp b/include/aikido/robot/ConcreteRobot.hpp
index 98033c05db..85161444f3 100644
--- a/include/aikido/robot/ConcreteRobot.hpp
+++ b/include/aikido/robot/ConcreteRobot.hpp
@@ -26,6 +26,10 @@ AIKIDO_DECLARE_POINTERS(ConcreteRobot)
 class ConcreteRobot : public Robot
 {
 public:
+  // Expose base class functions
+  using Robot::getMetaSkeleton;
+  using Robot::getStateSpace;
+
   /// Constructor.
   /// \param[in] name Name of the robot.
   /// \param[in] metaSkeleton Metaskeleton of the robot.
diff --git a/include/aikido/robot/Hand.hpp b/include/aikido/robot/Hand.hpp
index dd7c0510b3..5fc28d292c 100644
--- a/include/aikido/robot/Hand.hpp
+++ b/include/aikido/robot/Hand.hpp
@@ -37,7 +37,10 @@ class Hand
   virtual void step(const std::chrono::system_clock::time_point& timepoint) = 0;
 
   /// Returns the metaskeleton corresponding to this hand.
-  virtual dart::dynamics::MetaSkeletonPtr getMetaSkeleton() const = 0;
+  virtual dart::dynamics::ConstMetaSkeletonPtr getMetaSkeleton() const = 0;
+
+  /// Returns the metaskeleton corresponding to this hand.
+  virtual dart::dynamics::MetaSkeletonPtr getMetaSkeleton() = 0;
 
   /// Get the end-effector body node.
   /// \return DART body node of end-effector
diff --git a/include/aikido/robot/Manipulator.hpp b/include/aikido/robot/Manipulator.hpp
index c3983c1581..9e9b656827 100644
--- a/include/aikido/robot/Manipulator.hpp
+++ b/include/aikido/robot/Manipulator.hpp
@@ -16,8 +16,10 @@ class Manipulator : public Robot
 public:
   virtual ~Manipulator() = default;
 
-  /// Returns the hand.
+  /// Returns the [const] hand.
   virtual ConstHandPtr getHand() const = 0;
+
+  /// Returns the hand.
   HandPtr getHand();
 };
 
diff --git a/include/aikido/robot/Robot.hpp b/include/aikido/robot/Robot.hpp
index 868fb6e9d0..e842a37478 100644
--- a/include/aikido/robot/Robot.hpp
+++ b/include/aikido/robot/Robot.hpp
@@ -66,13 +66,17 @@ class Robot
   /// \return Name of this Robot
   virtual std::string getName() const = 0;
 
-  /// \return MetaSkeleton of this robot.
+  /// \return [const] MetaSkeleton of this robot.
   virtual dart::dynamics::ConstMetaSkeletonPtr getMetaSkeleton() const = 0;
+
+  /// \return MetaSkeleton of this robot.
   dart::dynamics::MetaSkeletonPtr getMetaSkeleton();
 
-  /// \return MetaSkeletonStateSpace of this robot.
+  /// \return [const] MetaSkeletonStateSpace of this robot.
   virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr
   getStateSpace() const = 0;
+
+  /// \return MetaSkeletonStateSpace of this robot.
   aikido::statespace::dart::MetaSkeletonStateSpacePtr getStateSpace();
 
   /// Sets the root of this robot.