The ASU RISE Lab’s autonomous bicycle project investigates the implementation of a self-driving bicycle for increased mobility and human-robot interaction research. This semester the research focus was on balance. Two strategies are being used in tandem to balance the bicycle; control of the steering column and a control moment gyroscope (CMG). Initial drive tests indicated that the steering motor needed to be more powerful than initially estimated. The CMG is still being manufactured and prepared for testing. Future work includes improving the algorithms controlling the steering and the CMG together, and testing the CMG both alone and with steering.