Since the cost of electronics, robotics parts and sensors has come down over time, many enthusiasts often find the challenge of making their own self-balancing robot a satisfying and successful project. An example of this has recently been published by Arkadi Rafalovich. His robot has four wheels, with two larger ones at the top to protect the electronics and also make it easy to use as a normal robotic vehicle as well. Apart from just giving us the Arduino sketch and parts list, Arkadi has documented the project in detail to make it easy to follow. And here it is in action:
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