2-Wheel Self Balancing Robot by using Arduino and MPU6050. Use Arduino as the controller and sensor MPU6050 to control the balance. Just add a simple Serial Bluetooth module and use a Bluetooth Serial Controller APP for Android Phone to make the remote control. In the first version, the controller is Arduino UNO, then in the sencond version as the following video shows, just change it to Arduino Lenardo. Now let's see how to make this robot step by step.