a step backward in locomotion,
a step forward in balance...
here's an idea:
skip the tower on top of the ball,
and put the robot inside the ball..
like the clear balls you get at petstore
that you put pet mice/hamsters in.
put some latex coating on it, so it has
program it to balance.
put it on a piece of plywood,
tell it to stay.
tilt the plywood. gyros sense the
tilt, counter act the tilt by turning
wheels that change the weight
distribution in the ball.
at least the thing won't fall over and
break your coffee table.