The Cubli – A Cube That Can Jump Up, Balance, And Walk
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[The Cubli – A Cube That Can Jump Up, Balance, And Walk]
Building a cube that can jump up and balance
[The Cubli] Source: LYBIO.net
The Cubli takes its name from a combination of the English word Cube and the Swiss German diminutive li, indicating something of small size. With a side length of 15 centimeters, it mainly consists of three reaction wheels, each attached to a brushless D.C. motor, motor controllers, inertial sensors, an embedded processor, and batteries.
Inertial sensor measurements are fused to get an estimate of the tilt and angular velocity of the cubli. And the Hall sensors provide the angular velocity of the reaction wheels. Based on these estimates a non-linear controller is used to balance the Cubli on its corner, while the angular velocity of the reaction wheels is kept close to zero.
Although this method of using reaction torques is similar to the one that is used to stabilize satellites in space due to the gravity. The algorithms used here are very different. With this set up the Cubli can robustly balance around its corner while rejecting disturbances. Rotate while balancing, and balance on its edge.
M.Gajamohan, M.Merz, I.Thommen, and D’Andrea,
The Cubli: A Cube that can Jump Up and Balance, in Proc. IROS (Algarve, Portugal),
pp. 3722-3727, October 2012.
In addition, the momentum wheels can rotate at very high angular velocities and build up sufficient angular momentum. A rapid breaking of the wheel, allows it to transfer the angular momentum to the Cubli’s body. This allows a Cubli to jump up from a resting position to a balancing position without external support.
Balancing on a corner is achieved through two subsequent jump up maneuvers. The first maneuver, raises a Cubli from one of its faces, so that it balances along one of its edges. And the second raises it from its edge to one of its corners.
In addition to balancing, the motor torques can be used to achieve a controlled fall, such that the Cubli can be commanded to fall in a specific direction. Combining these three abilities, jumping up, balancing and controlled falling allows a Cubli to walk across a surface.
Some researchers hope to use this method of locomotion for planetary exploration, while others are using it for self assembling robots. But for us, it is just a cool little cube that can jump up, balance and walk.
Mechanical Design and Production
Hans Ulrich Honegger
Special Thanks to
ETH Zurich, 2013
Lead Researchers: Gajamohan Mohanarajah and Raffaello D’Andrea
Connect and Follow Gajamohan Mohanarajah YouTube Channel:
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.
Read more here:
M. Gajamohan, M. Merz I. Thommen, and R. D’Andrea,
The Cubli: A Cube that can Jump Up and Balance, in Proc, IROS (Algarve, Portugal), pp. 3722-3727, October 2012.
The Cubli – A Cube That Can Jump Up, Balance, And Walk. Some researchers hope to use this method of locomotion for planetary exploration. Complete Full Transcript, Dialogue, Remarks, Saying, Quotes, Words And Text.