I had a couple of student try to get a balancing platform working. Their goal was design a home built segway.
This link takes you to the current web site:
http://wihs.no-ip.com:8181/~willum/craigway.htm
Currently the platform will increase speed in the direction of tilt but the drive train is not yet strong enough to support a human rider. The rider must support his/her own balance.
All we were able to demonstrate is that the FKOP gyro/robot controller can be programmed to respond appropriately to a tilt provided by the rider.
We plan on working on a metal version with CIM motors this fall and spring (in the "off-season, if one really exists)
What the project does not yet do is "hold balance".
That is an immediate goal once we get the new platform working.
If you have programming questions e-mail the creator of the web site, he was our lead programmer and has spent many hours working on this project.