[tsaksa]

Be aware that the ability of a flywheel to resist a swinging motion will also produce a precession force. This may not be very large depending on the size and location of the flywheel and the amount of resistance to swinging. However for a hanging robot there may be a risk of reducing the grip on one of the hooks and perhaps destabilizing the robot. A flywheel sure sounds cool, and might also really look cool in operation. But the problem might be quicker and easier to address with cushioning. Remember, keep It Simple.