Two Wheel Balancing Robot (video)

DIY Balancing Robot. Controlled by a ATmega8 Controller. Uses a hacked Piezo Gyro from RC Plane and a Tiltsensor. The signals are fused in the Software. The Motor Driverboard has its own ATtiny2313 connected to the Master Controller by a I2C bus. Next up would be wheel encoders and some sort of Remote Control.