The purpose of this project is to create a sub-controller that can be merged with the existing full-body controller used by Atlas so as to balance an inverted pendulum by using his hand. The addition of this controller will give Atlas a sense of balancing things. It can be thought of as a double inverted pendulum control problem. The feedback of the controller is Atlas’ stereo vision system, but initially we aim to obtain the feedback using accelerometers to avoid time delays inherent in processing data. The simulation of the system will be done using Gazebo and ROS (Robot Operating System).