
This guy actually built his own version of the 2 wheel segway scooter. It actually seemed to cost a lot of money for the components, so might not be the cheapest DIY project, but is definately cool. He uses an Atmel microcontroller to control his scooter, and uses a Gyro from a camcorder to detect changes in position. He uses RC car batteries for his scooter, and is able ride it at 10 mph.
..Self-balancing scooters, like the Segwayâ„¢ are often thought to be technological miracles, but it is not actually very hard to build one. I built the one described here in about a week using off-the-shelf parts. I spent another week tweaking the high-speed stability, improving the steering control, and writing about it…[Link][via]
If this is not up your alley, or cost too much, you could start out with his balancing robot.

This robot is really cool. It is really complicated, but I thought it was worth looking at. Check out the videos also.
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