This system provides a high-performance, physics-based animation solution for Unity. It relies on a dual-rig architecture: a Ghost Rig (which runs the animations and procedural logic) and a Physical Rig (the visible ragdoll that physically interacts with the environment). 

A highly advanced, 100% physics-driven character controller designed specifically for two-wheeled bipedal robots. This system utilizes a complex inverted pendulum algorithm combined with an active rigid servo to keep your character flawlessly upright. 

Whether you are building a fully procedural biped, enhancing a traditional humanoid Animator, or expanding upon active ragdoll systems, this package provides the mathematical foundation for grounded, realistic movement.