A balancing robot

I thought it would be fun to build a balancing robot. It uses a 9 DOF accelerometer, Kalman filter, and PID control of servo motors.

Here is some video of my second attempt.

You can see my fingers holding the USB cable. The 'bot does not balance by itself yet, but it is trying.

I happened to have the servos, and will probably replace them with something a little faster. The accelerometer is on the red breakout board. It has more capability than this application needs; I plan to use it for some other projects later. The LEDs show the Kalman filter operation. Without filtering, the output of the accelerometer has too much noise.

I plan to add a camera and wifi shield to this 'bot, and then drive it around with an iPhone app (another project)

These additions will make this a Thing on the Internet, though not a part of the IoT.