Loading the player...

The Cubli: a cube that can jump up, balance, and 'walk'

Please login in order to report media.

  • Uploaded 4 years ago in the category Most Shared Videos

    The Cubli is a 15 × 15 × 15 cm cube that can jump up and balance on its corner.

    Reaction wheels mounted on three faces of the cube rotate at high angular velocities and then brake suddenly, causing the Cubli to jump up.

    Once the Cubli has almost reached the corner stand up position, controlled motor torques are applied to make it balance on its corner.

    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'.

    Lead Researchers: Gajamohan Mohanarajah and Raffaello D'Andrea

    This work was done at the Institute for Dynamic Systems and Control, ETH Zurich, Switzerland and was funded in part by the Swiss National Science Foundation (SNSF), grant number 146717.

    For more details visit: http://www.idsc.ethz.ch/Research_DAndrea/Cubli

    Other links:
    http://robohub.org/swiss-robots-cubli-a-cube-that-can-jump-up-balance-and-walk-across-your-desk/