DocumentCode
2592210
Title
The Cubli: A cube that can jump up and balance
Author
Gajamohan, Mohanarajah ; Merz, Michael ; Thommen, Igor ; D´Andrea, Raffaello
Author_Institution
Inst. for Dynamic Syst. & Control, Swiss Fed. Inst. of Technol. Zurich, Zurich, Switzerland
fYear
2012
fDate
7-12 Oct. 2012
Firstpage
3722
Lastpage
3727
Abstract
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.
Keywords
nonlinear control systems; pendulums; torque control; velocity control; Cubli; angular velocity; controlled motor torque; momentum wheel; Accelerometers; Angular velocity; Brushless DC motors; Prototypes; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location
Vilamoura
ISSN
2153-0858
Print_ISBN
978-1-4673-1737-5
Type
conf
DOI
10.1109/IROS.2012.6385896
Filename
6385896
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