# Self-Balancing Reinforcement Learning for Wheeled-Legged Robots Based on MuJoCo and PPO

- Source: Guyuehome
- Published: 2026-10-17T15:29:00.000Z
- RoboHot: https://robohot.news/en/items/j3l24b4tlhdhpi9nfs317jxe6
- Original: https://www.guyuehome.com/detail?id=2103320193078947842

## Summary

Starting from the instability mechanism of a rolling inverted pendulum, the article explains why two-wheeled-legged robots must rely on wheel rolling to maintain balance, and presents the complete mathematical formulation of proximal policy optimization (PPO). Using a real training experiment of three million steps, the author shows the policy's progression from random jitter to standing in place and moving toward a target.