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Here's my slightly unusual balancing bot. Normally balancing bots use motors and gyros,but my minimal bot uses just servos and an untrasonic distance sensor. Used an old boe-bot platform: 2x continuous rotation servos Aluminium base The boe-bot came with a a basic stamp MCU, so I replaced that with an Arduino Uno Boe-bot's are normally rover type bots, but I moved the servo/wheel mountings to the edge and stood it up on its end to make a balancing robot. You need accelerometers and gyros ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/balancing-bot-with-ultrasonic-sensor-no-gyros