Thank you for explaining this. Still, while this presents a very interesting scientific problem, the engineer in me wonders why these feedback loops are needed for an automaton navigating a 2D terrain and carrying solid objects (unless they plan on tossing/catching boxes), why two wheels with that giant swinging counterweight? What's next, a unicycle?

You know, sometimes you see a solution, and it's just so elegant... This isn't elegant, or brilliant. This is an attempt to solve self-imposed, artificial problems.

P.S. people who liked your pendulum video (I did), might also enjoy this drone pole acrobatics video:

https://www.youtube.com/watch?v=XxFZ-VStApo