Was hunting for the song Blood Sugar by pendulum, came across this on youtube -

Linky

I knew it was worth hanging onto that old epson printer for some reason.....

Edit: Just realised there are loads of videos of the same projects on there (& double inverted pendulums) which then progresses to balancing 2 wheeled robots (example) that's the system behind the Segway


[Edited on 17/5/07 by Mr G]