In the past few years, we have covered plenty of robot dogs performing moves with agility. This video shows a Carnegie Mellon University robot walking on a balance beam without stumbling. The team used a reaction wheel actuator that mounts on the back of the robot that enables it to balance regardless of the position of its feet.
[HT] [credit: Chi-Yen Lee , Shuo Yang , Benjamin Bokser , and Zachary Manchester]