[saulrh]

Active balancing is actually really cheap, if I'm remembering correctly. In an ideal situation the cost should be zero as the corrections required would be infinitesimal. That case isn't really reached, but the robot I worked on massed 150 kilos and probably spent way more power on computational homeostasis then it did on balance.

[kross]

Agreed, I did a short bit of research on simulation, and in this case (rotational dynamics) moment of inertia is substituted for mass in the force calculation, and when standing still, that is always near zero. Therefore very little energy should be necessary to maintain it.