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.
alt Hacker News
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.