This self-balancing robot with two ducted fans was designed to make an effort in resolveing some critical problems I found with the original two-wheeled self-balancing robot, such as long accelerating and decelerating time, unable to retain balance with insufficient contact with ground, poor complex terrain adaptability, etc. 

However, my first attempt was rather unsuccessful. Air propulsion of the ducted fans cannot be modeled simply as force pulses due to delays in fan response, complex airflows and poor weight control of this very first prototype. The next steps will be to improve the mechanical design to reduce weight and add nozzles and guide grooves to better control air flow. I wish one day this mechanism can achieve agile movement on ground and even fly with two additional servo motors controlling the direction of the ducted fans.