Balancing on Inline Wheels with Gyroscopes

Head over to to start your collection and don't forget to use my unique promo code 'BRUTON' to receive your exclusive T-Shirt! This is part 2 of my Control Moment Gyroscope (CMG) balancing experimentation. I've built many robots that use solid state gyros and accelerometers to make them balance - mainly two wheel balancing robot and ball balancing robots. But how can we use physical spinning gyroscopes to stabilise or make robots balance? I've built a Control Moment Gyro which uses a solid state IMU to measure the angle of roll of the whole device, and then tilts a physical spinning gyro powered by a brushless motor, so cause a perpendicular force. Last week's video about V1 of this project: CAD and code: More about Control Moment Gyros: Thanks to ROBOTIS for the Dynamixel servo: Check out: This servo is: .