This is part 2 of my Control Moment Gyroscope (CMG) balancing experimentation. I've built many robots that use solid state gyros and accelerometers to make them balance - mainly two wheel balancing ...

In a surprising development in the field of robotics, researchers have discovered that small modifications to a robot’s body mass and ball size can significantly enhance its balancing abilities.

A human-size robot balancing on a ball that acts as a spherical wheel can push wheelchairs as smoothly as a human assistant – and may carry out this caregiving task better than many humanoid robot ...