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Cubli

Project Details

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Start Date: Feb 2011
End Date: Ongoing

 

Contact:

Prof. Raffaello D'Andrea

 

Lead Researchers:

Michael Muehlebach (2014-)
Gajamohan Mohanarajah (2010-2014)
Prof. Raffaello D'Andrea

 

Additional Participants:

Igor Thommen
Marc Corzillius
Carolina Flores
Hans Ulrich Honegger
Christof Dubs (MT, Fall'13)

Publications

M. Muehlebach, G. Mohanarajah, and R. D'Andrea, Nonlinear Analysis and Control of a Reaction Wheel-based 3D Inverted Pendulum, in Proc. Conference on Decision and Control, CDC 2013 (Florence, Italy) (accepted) (pdf) | (appendix) | (bib)

M. Gajamohan, M. Muehlebach, T. Widmer, and R. D'Andrea, The Cubli: A Reaction Wheel-based 3D Inverted Pendulum, in Proc. European Control Conference (Zurich, Switzerland), pp. 268-274, July 2013. (pdf) | (bib)

M. Gajamohan, M. Merz, I. Thommen, and R. D'Andrea, The Cubli: A Cube that can Jump Up and Balance, in Proc. IEEE/RSJ International Conference of Intelligent Robots and Systems (Algarve, Portugal), pp. 3722-3727, October 2012. (pdf) | (bib)

Talks

Zurich.Minds, Gajamohan Mohanarajah, Switzerland, December 2013, (video link)

Berlin.Minds, Gajamohan Mohanarajah, Switzerland, December 2013

Building cubes that can jump up and balance

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'.

The CAD drawing of the Cubli
The CAD drawing of the Cubli
The Cubli jump-up strategy: (Left) Flat to Edge: Initially lying flat on its face, the Cubli jumps up to stand on its edge
The Cubli jump-up strategy: (Left) Flat to Edge: Initially lying flat on its face, the Cubli jumps up to stand on its edge. (Right) Edge to Corner: The Cubli goes from balancing on an edge to balancing on a corner.

Videos

Project overview (December 2013)


A video of the three dimensional Cubli prototype balancing.


A video of the one dimensional Cubli prototype jumping up and balancing.

Projects

Students that are interested in doing their Bachelor or Master's thesis on this project should contact Michael Muehlebach directly and provide a copy of their latest CV and transcripts. Some projects may be listed here.


Past Participants

 

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