This self stabilizing robot that I designed is a great handheld robot that uses a counterweight to keep it's head upright at all-times. This is also a great educational model as it helped me understand how counterweights can help balance something no matter how the main object is moving. In my opinion, counterweights are a great proof of concept and I encourage my users to incorporate this in their own models.

Please note that you can but don't have to make the counterweight heavier.

This model was hugely inspired by the STYR-01: The Self-Stabilizing Rolling Robot Judhini Prints on Printables designed. I really enjoyed and liked this user's model and had a great time with it. This is a link to his model:
[https://www.printables.com/model/1194641-styr-01-the-self-stabilizing-rolling-robot/comments](https://www.printables.com/model/1194641-styr-01-the-self-stabilizing-rolling-robot/comments)