Self-Balancing Wheeled Ragdoll

Self-Balancing Active Ragdoll by Frost Punch Games delivers 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. By dynamically shifting the physical Center of Mass (CoM) and applying precise joint torques, the character naturally leans into turns, counters centrifugal force, adapts to uneven terrain, and jumps dynamically—all while maintaining complete physical stability.

Designed to be highly tunable, this package gives you total control over the raw physics, making it perfect for sci-fi robots, hoverboard controllers, or any wheeled biped project requiring snappy, responsive, and realistic momentum.

Key Features

• True Physical Balancing: A robust inverted-pendulum algorithm drives the wheels to catch the character's falling weight, creating natural momentum and flawless stability without kinematic cheating.

• Dynamic Center of Mass Shifting: The system physically shifts the Rigidbody's CoM in real-time. It pushes weight into corners to fight centrifugal force and naturally counter-shifts to maintain equilibrium.

• Active Posture Servo: A heavily optimized PD controller (Rigid Servo) acts as the character's core strength, aggressively keeping the upper body upright, absorbing shocks, and seamlessly adapting to uphill/downhill slopes.

• Centrifugal Carving: Speed and steering input are calculated together to physically torque the character's body into a corner, simulating real-world carving and banking.

• Explosive Procedural Jumping: A specialized airborne mechanic utilizes ForceMode.VelocityChange and temporary ConfigurableJoint spring boosts to launch the active ragdoll into the air without tearing physics constraints. Mid-air posture correction ensures you always land perfectly upright.

• Intelligent Braking: Letting go of the controls smoothly transitions the character into a reverse-lean, utilizing its own physical weight to brake against its forward momentum before locking the wheel friction at a standstill.

• Arc Steering System: A smoothed, radius-based steering solution that prevents violent jitter at high speeds and creates natural, sweeping turns.

• Zero Jitter & Popping: Meticulously coded to utilize SmoothDamp transitions and virtual physical offsets, completely eliminating the constraint tearing and physics popping notoriously associated with Unity's active ragdolls.

What's Included

• The core Auto-Balancing script.

• A standalone, highly optimized Two-Bone IK script to seamlessly glue your visual armature to the physical wheels.

• A fully configured prefab ready to drop into your scene.