Besides using FC+AHRS on copters, it also can do such funny thing.
FC1212-S and AHRS-S
2 multicircle servos (without endpoints) which are connect to FC output1 and output2 configured as Servo.
the FC is trying control the servos spinning to make the AHRS keeping leveled, so the segway always back-forward to keep its balance.
also have tune the mixer table and PID:)