4 ms·

By gyro do you mean flywheel? Is there one in this robot?

• Isamu 6mo ago
  There does not appear to be one in this robot, from what I am able to read about it. I think sometimes people assume there must be something like that to help balance. This generalizes fixed 2-wheel dynamic balancers which mostly don’t have flywheels for stability either, the focus is on the dynamics of keeping the wheels under the center of gravity, or a bit offset when moving. The novelty here is about switching between dynamic control policies while keeping them simple.