# PPO Enables Autonomous Balance and Navigation Control for a Bicycle Robot in PyBullet

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/x26l1066he464v6jsbcq697ww
- Original: https://www.guyuehome.com/detail?id=2108116003805229058

## Summary

This study takes a bicycle robot with a reaction pendulum as its subject, derives the roll dynamics and the speed-dependent instability mechanism, and uses proximal policy optimization (PPO) to train coordinated control of the steering, rear wheel, and reaction pendulum. Experiments are carried out in PyBullet: natural fall, training, balancing, navigation, and disturbance recovery, concluding with obstacle-avoidance training.