i tried to investigate trashbot #3 using a laser to understand whether active balancing in the spine actually has an effect, and documented that in a video (don't understand how i can embed a video here):
"how to" on youtube.
tell me what you think!
the two laser pictures are also on my blog http://assadollahi.de/using-a-laser-to-investigate-trashbot-3s-gait-balance/
https://www.youtube.com/watch?v=fSkr6Oo_vfM