In mobile robots, one crucial factor is the ability to remain balanced. Developing mechanics for such mobile robots to be able to get back up from a fallen state if of great importance. This paper presents a potential algorithm that can efficiently solves such stated problem for mobile, four-wheel-drive robots. An inertial sensor can be used to collect data of linear acceleration, angular velocities, and rotational dynamics from the robot. The data can then be used in a PID controller program to find the maximum speed a robot can travel and both the maximum acceleration and deceleration without tipping over. An environment is simulated in WeBots for evaluation of the implementation of this algorithm on a four-wheel-drive robot.