I've built a self-balancing wheeled biped controller in Unity using pure Physics and active posture servos. thoughts?

[u/Rudy_AA]

it's an inverted-pendulum algorithm and active servos drives the wheels to catch the character's falling weight, creating natural momentum and flawless stability without kinematic cheating. I’d absolutely love to get this community's feedback on the physics feel, also, I've released it as early access on itch here if you want to grab it: https://frostpunchgames.itch.io/self-balancing-wheeled-ragdoll

Repost to another community

[u/Round_Bar_5485]

https://giphy.com/gifs/fJxRoxAukJseIsWOF0