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This instructable walks you through building a simple, 2 wheeled balancing robot, and spends some time exploring the various factors influencing balancing performance. This is my second robot project, and I had two key motivationsto determine, and improve on, the factors limiting the first robots balancing performance, and to incorporate the more integrated Arduino 101 form factor. If interested, here is a link to the instructable for my first balancing robot project. The key components of this robot include the Arduino 101 board, an Arduino motor control shield, two 12V geared DC motors with encoders and a Bluetooth module. Finally, an inexpensive battery allows the robot greater mobility and a companion Android app enables robot tuning and control.”

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