In this video I build an Arduino balancing robot. The code that I use is self-written and is available from my website. A detailed built tutorial, drawings for the frame and electrical schematics can also be downloaded from my website:

http://www.brokking.net/yabr_main.html

If you have any questions please check the Q&A page first:
http://www.brokking.net/yabr_qanda.html

The code is explained in detail in the following videos:
Part 2:    • Another Arduino project - Your Arduin...  
Part 3:    • Arduino project - Your Arduino Balanc...