Here is a robot I built to demonstrate the dIMU, and what it can be used for. The Segway can be remote controlled through the use of the HiTechnic IR Receiver, and the PF remote. Both the software and the hardware are based on the HTWay.
I modified the HTWay NXC program so that it works with the dIMU, but besides getting it to work, I didn’t do very much tuning of the konstants (so there should be a lot of room for improvement in balancing and driving).
Update 10/23/2011: I posted the NXC program.