Lego Mindstorms NXT Segway

The other night I was researching building a balancing Segway like robot with the Lego Mindstorms NXT kit. I wanted a robot that could balance on two wheels and could move forward and backward. I also wanted the robot to recover when “pushed”.

I was familiar with Steve Hassenplug’s Legway built on the Lego RCX platform, but I wanted to tackle the challenge with the NXT. Luckily, I found Philo Hurbain’s NXTWay. I was intrigued enough to build a copy and try out the programming.

It is quite hard to get the balance right and in the end I created a very aggressive robot that I can push around and it will mostly right itself. Here is the video of the final creation.