The Cubli: A cube that can jump up and balance

The Cubli: A cube that can jump up and balance

This paper introduces the Cubli, a 15×15×15 cm cube that can jump up and balance on a corner. Momentum wheels mounted on three faces of the cube (Fig. 1) 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 pos...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Gajamohan, M., Merz, M., Thommen, I., D'Andrea, R.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Accelerometers
Angular velocity
Brushless DC motors
Prototypes
Wheels
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Beschreibung
Zusammenfassung:This paper introduces the Cubli, a 15×15×15 cm cube that can jump up and balance on a corner. Momentum wheels mounted on three faces of the cube (Fig. 1) 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. This paper tracks the development of the Cubli's one dimensional prototype at ETH Zurich and presents preliminary results.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6385896