Ballancing robot

Ballancing robot, a set on Flickr.

I have been wanting to make a ballancing robot for some time now.
Using parts developed for flying robots it turned out to be really simple to make the robot stable. In fact it worked right away and the whole process only took an afternoon.
Wheels are Lego, motors are hacked servos and the IMU is a ArduIMU V3 with custom DMP software.
This is a pre-study for other ballancing and people carrying crafts.