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It's going to be easier to balance something with a higher CG
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So it would be easier to balance a machine with the rider standing over the wheel axles than under the axles? Hmmm...
A pendulum platform stabilizes at least some of the weight it is supporting, of course the overall CG is very much above the axles. It does this naturally and should require less power from the motors to keep a rider upright. In an inverted pendulum base all weight is in an inverted pendulum status and all of it requires stabilization.
The following example shows two yard sticks one supported at its end the other also supported at its end (superglued) but it is nested in a balsa pendulum.
Any difference between the two?