Check out the Cubli: A Reaction Wheel Based 3D Inverted Pendulum: ... The Cubli: A Reaction Wheel Based 3D Inverted Pendulum
Hmmm, amazing isn't what I would call it, maybe boring until he pushed it to hard and it fell over and perpetual motion would require a more fundamental change in our understanding of energy conservation.
Yep, this was pretty boring, and seemingly a useless device. Also perpetual motion will never be achieved.
Guess I'll just have to dream on, keep taking the meds, and watch Stargate-SG1 for a while yet, Peezee!