[Al Skierkiewicz]

OK,
This part of the design is not my specialty but calculating the wheel circumference I get about 1 meter. So to travel 3.74 m/s, wheel rpm is about 224 rpm (3.74rev/sec*60sec) and motor rpm is 7630 (224rpm*34). That is about 2000 rpm higher than the free speed of the CIM. So something needs to change.
There is someone who posted here on CD a few years back that had built a cheap segway of their own. You should search for that series and see if you gain any additional info.
Al