Cubli — a cube that can walk
December 23, 2013
Reaction wheels mounted on three faces of the cube rotate at high angular velocities and then brake suddenly, causing the Cubli to jump up.
In addition to balancing, the motor torques can also be used to achieve a controlled fall such that the Cubli can be commanded to fall in any arbitrary direction.
Combining these three abilities — jumping up, balancing, and controlled falling — the Cubli is able to “walk.”
Technical details in open-access papers cited below.
* Cube + the Swiss German diminutive for “cube”
- M. Muehlebach, G. Mohanarajah, R. D'Andrea, Nonlinear Analysis and Control of a Reaction Wheel-based 3D Inverted Pendulum, Proceedings of Conference on Decision and Control, CDC 2013, 2013 (open access)
- M. Gajamohan, M. Muehlebach, T. Widmer, R. D'Andrea, The Cubli: A Reaction Wheel-based 3D Inverted Pendulum, Proceedings European Control Conference, 2013 (open access)
- M. Gajamohan, M. Merz, I. Thommen, R. D'Andrea, The Cubli: A Cube that can Jump Up and Balance, Proceedings IEEE/RSJ International Conference of Intelligent Robots and Systems, 2012 (open access)