Balancing robot with etched PCB shield

Balancing robot with printed wheels and structural parts. It uses a Arduino Uno, accelerometer/gyroscope, and a etched motor/servo PCB shield that I made.

Here's a video of it in action
http://www.youtube.com/watch?v=LAWjUlzAYf0&feature=plcp

The final robot is quite a bit different from the first prototype. You can see the progression of this project here:
www.jddorweiler.appspot.com/electronics.html#robot

I've wanted to make a balancing robot for a while but I was always turned away by the cost of all the parts. I tried to avoid using any expensive electronics or motors and instead tried to use common parts that other might have lying around. This is pretty much my first arduino/programming/PCB project so I'm sure there is room for others to improve it. Using servos was a cheap alternative to much more expensive geared motors but they're also a bit slow. This means that the robot can only recover from small pushes.

The PCB was designed using Fritzing http://frit