The Balancer is a self-balancing robot built by Sakari Kapanen in December 2015. It uses the MPU-6050 six-axis motion sensor (gyro + accelerometer) to keep itself balanced. The tilt angle is fed to a PID feedback loop which controls the speed of the motors. This robot features also infrared remote control. An Arduino Nano clone is used as the microcontroller board.
The source code of the robot can be viewed at this GitHub repository. An improved version with a more powerful ESP8266 processor and WiFi control is under construction and will be more thoroughly documented.