This balancing wheelchair uses a simple PID-controller loop to balance itself on just two wheels. It can be built with just the parts in the 51515 Mindstorms Inventor set. You do not need any additional parts besides a PC, tablet, or phone to upload the program.

The Balance-Inventor is a fascinating toy. If you have ever tried to balance a real wheelchair on two wheels, you know how difficult it is. This model tries to teach you some basics on PID-motor control.

Building instructions, detailed description of the code as well as the actual .lms-File for the Mindstorms-App are available on rebrickable.com

More Details on the page about the book The Mindstorms Robot Inventor Expert