I’ve built various balancing robots in the past. These include two-wheel balancing robots like my Sonic the Hedgehog robot, and my one-wheel balancing robot which used an active two-axis omni wheel to balance on a single point. These robots actively move in the direction they are falling in order to catch themselves and balance. I also experimented with gyroscopes which use a constantly spinning mass and the resulting gyroscopic precession to exert a force and balance. A physical spinning gyrosc