Take a look at hanno's article in the March 2009 Circuit Cellar ("Vision-Guided Robotics"). He uses a Propeller to be the brains. He also has a thread in the Propeller forum.
Try a Google search on "balancing boe-bot". The very first link returned is a youtube video of a boe-bot that uses a PING)) sensor to maintain balance. Google is sooooo easy; I don't understand why people refuse to use it.
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