PICO self-balancing robot

Hi guys, This is a modified PICO. This is one of my product prototypes. You will find in our online shop in few days.

I use Arduino and 2 ir SHARP distance sensors to give stability to the robot.

Here it is the original article: 

http://www.gioblu.com/index.php?option=com_content&view=article&id=100:self-balancing-robot-per-noobs-p&catid=36:robotica&Itemid=34

(please click on the flag of your country to get the right traduction, it uses Google translate. If the traduction is not well, it's not my fault, but of Mountainview)

I have implemented PID algorithm (it works well look @ the 3rd video) you can find my little tutorial here:

http://www.gioblu.com/index.php?option=com_content&view=article&id=102:che-cose-lalgoritmo-pid&catid=38:programmazione&Itemid=7