A self-balancing robot story

A short presentation of making my first self-balancing robot which doesn't use any accelerometers or gyroscopes. Special thanks must be given to Patrik Olsson (www.x-firm.com/...) for providing lots of information and software for the task.
Correction: The motor at a normal run draws about 220 mA.
This video contains parts of the following sources:
• Arduino balancing robo...
• Balancing Robot Presen...
• The Beetle robot vers...
• Self balancing Arduino...