Lean Forward -> Drive Forward

Lean Backward -> Drive Backward

After seeing some other designs online for 2 wheeled robots, I went "hey that looks easy, I could do that, no problem."

Turns out, its a little harder than expected.

I made a little animation showing some of my first ideas, but it wont embed, so guess you'll just have to click it...

Robot2.swf

LINKS:

http://www.tedlarson.com/robots/balancingbot.htm

http://www.geology.smu.edu/~dpa-www/robo/nbot/

http://www.segway.com/

http://www.cs.ut.ee/~toomas_l/linalg/matlabap/control/control12.html