At UiA Master Mechatronics the entire class combines theory and practice and builds a self-balancing robot from scratch using 3D printing. The robot is controlled using real-time control and a vision system in the course MAS506 Instrumentation, see: http://www.uia.no/en/studieplaner/topic/MAS506-G
Here is a fun video to watch: https://youtu.be/vwaBABcj7ao