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I am trying to figure out how large of a mass and how quickly I need to spin said mass to keep a two-wheeled robot stable. Ideally, I am looking for a formula that relates m₁=mass of robot, m₂=mass of spinning disk, v=rotational speed of disk (rpm), and some sort of stability factor s (or amount of mass m1 that it can counteract). Is there any such formula, and what would it be?

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