This latest version of the Cubli can jumping up, balanc, and even “walk”. This new version is self contained with respect to power and uses three slightly modified bicycle brakes instead of the metal barriers used in the previous version. We are currently developing learning algorithms that allow the Cubli to automatically learn and adjust the necessary parameters if a jump fails due to the deterioration of the brakes and changes in inertia, weight, or slope of the surface. There are multiple ways to keep a cube in its balance, but jumping up requires a sudden release of energy. Intuitively momentum wheels seemed like a good idea to store enough energy while still keeping the cube compact and self-contained. Furthermore, the same momentum wheels can be used to implement a reaction-torque based control algorithm for balancing by exploiting the reaction torques on the cube’s body when the wheels are accelerated or decelerated.

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• Country: Switzerland 
• Company: ETH