Abstract: A force balancing robotic system and related methods are disclosed. The robotic system can include a body, a balancing member, and a balancing system. The robotic system can be statically unstable, which can be a result of having a statically unstable body. The balancing member can be connected to the body by a joint. The balancing system can have one or more sub-systems utilized to dynamically balance the robotic system. Such subsystems can include a repositioning system, an accelerating system, and a driving system. The repositioning system can reposition the balancing members to position the center of mass over a target. The accelerating system can accelerate the balancing members to produce a target torque. The driving system can drive the wheels of the robotic system to maintain balance. While retaining balance, the robotic system can absorb external force and apply forces to external objects.

Abstract: A force balancing robotic system and related methods are disclosed. The robotic system can include a body, a balancing member, and a balancing system. The robotic system can be statically unstable, which can be a result of having a statically unstable body. The balancing member can be connected to the body by a joint. The balancing system can have one or more sub-systems utilized to dynamically balance the robotic system. Such subsystems can include a repositioning system, an accelerating system, and a driving system. The repositioning system can reposition the balancing members to position the center of mass over a target. The accelerating system can accelerate the balancing members to produce a target torque. The driving system can drive the wheels of the robotic system to maintain balance. While retaining balance, the robotic system can absorb external force and apply forces to external objects.