> As I see it, IT can keep balance mainly through accelerating or
> decelerating. I think it becomes really funny when you're at the maximum
> speed and lean forward... :)

Imho you need to see a film about, or read a book, titled something like
'legged walking robots'.

Also there was a demo for Tokin/Murata piezo gyros that consists of a
stick (about 60cm long) with two RC servos in the middle around a ball
joint and an electronic box with batteries and gyros on the top. You put
it down, electronic-less end down, and it stands there, vertically, servos
fighting any fall-down tendency by bending the upper side of the stick). I
do not remember where I saw this. I understand that it eventually fell
over (these gyros have offset).

Peter

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