an apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its center of mass and balance on two motorized wheels . the robot includes a pair of arms that are connected to the upper body of the robot through motorized joints . the method consists of a series of movements employing the arms of the robot to raise the robot to the upright position . the method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus . the robot is first configured as a low center of mass four - wheeled vehicle , then its center of mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body , between the rear and front wheels ; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the center of mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration .