This Self Balancing Robot is build on AVR microcontroller Atmega16 using Accelerometer (MMA7361L) and Gyroscope (LPR530). To get accurate tilt information complimentary filter is used. The motor Driver Module uses L298 Motor driver IC and motors used are centre shaft economy series motors with 2.75 kg-cm stall torque at 12 volts. For stability PID control is used.