Not only has [Joop Brokking] built an easy to make balancing robot ... using a PID control loop to actuate the two motors using data from some type of Inertial Measurement Unit (IMU).

Researchers at the University of Michigan recently developed CoNav, a smart wheelchair controlled via a Robot Operating ...

which in this case are load cells in the legs and an MPU6050 IMU for balancing. The main control board is a Teensy 3.6, with an NRF24 module providing remote control. [James] wanted the robot to ...