In this paper, we try to realize a Dual -Wheel upright self-balance Robot which is supposed to the most simple and cheapest one that even the art students can make. The structure and mathematical modeling of a Dual-wheel upright self-balance Robot are studied. Also, the simulation and the real experiment of robot are done while the project has been realized by transforming Boe-Bot Robot Kit produced by parallax Inc. to an appropriate structure. The system is made up of a mobile two-wheel robot, a BS2 controller, a sonar sensor and two continuous rotation servos. As the PID controller, using optimal parameter generated by MATLAB simulation, has acceptable robust as well as a good balancing ability. The stability of system is proved by data collected by experiments.