[jonnydark]

The balancing stems from an inverted-pendulum problem, and that's something that's reasonably well understood in robotics https://en.wikipedia.org/wiki/Inverted_pendulum

Of course it's more complicated than that because it looks as though the centre of mass can move and the legs can bend and are not rigid, but it would make more sense approaching this from a kinematics perspective rather than a ML one.