Engineering Design
Josh Atencio

The_Cubli_a_cube_that_can_jump_up_balance_and_walk_1_1

 

WHAT IT IS

  • 15 cm cube
  • processor
  • 3 reaction wheels
  • inertial sensors
  • non-linear controller
  • brush-less dc motor
  • motor controllers
  • batteries
  • hull sensors

HOW IT WORKS

Inertial sensor measurements are fused to get an estimate of the tilt and angular velocity of the Cubli. Hull sensors provide the angular velocity of the reaction wheels then 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. This method of reaction torque is similar to the method used to stabilize satellites in space although the algorithms are very different.

WHAT IT CAN DO

  • Balance around its corner while rejecting disturbances
  • Rotate while balancing
  • Rotate on its edge
  • Jump up from its position using the momentum wheels and their ability to rotate at high velocities to build up enough angular momentum. Rapid breaking of the wheel transfers momentum to the whole structure allowing it to jump up, then it can quickly and continually spin these wheels to add angular momentum allowing it to keep its position.

APPLICATIONS

Currently this tech is being developed for planetary exploration & robotic self replication. Also the gyroscopic applications are numerous.

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