Inverted pendulum robot: hammer time

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Some experimentation with an inverted pendulum robot. Was looking for something with a large moment of inertia (which makes the robot "fall" slower); that's where the hammer came in.

Short overview (maybe I'll document it some more later on):
- Two stepper motors + DRV8825 drivers
- Teensy 3.1 microcontroller
- Two PD loops, one for stability control using an IMU (MPU6050) as input, and the other one for position control (prevents the robot from wandering off).
- 3D printed wheels, with some timing belt used for grip
- A piece of wood, representing the frame. Motors are fixed with some cable ties.
- And of course the hammer.
That's it basically, not too many materials required.

I hope to upload a next video next week or so. Next steps are to add a remote control, have steering control, and to add a battery.