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I wonder if Killerhurtz could be talking about a gimbal mounted flywheel system normally allowed to rotate freely, but engaged to provide balance. I can't find any examples of flywheels being used that way, so that must be impractical as well for some reason. Maybe the space/weight constraints of needing a flywheel mounted in a sphere per axis, or maybe this scheme would impart some angular momentum on the robot during stabilization?