Quantum mechanics

Control (management)

Engineering

Balance (ability)

Economics

Computer science

Classical mechanics

Mechanical engineering

Thermodynamics

Physics

Torque

Mathematics

Position (finance)

Angular momentum

Cube (algebra)

Artificial intelligence

Geometry

Brake

Jump

Long jump

Medicine

Physical medicine and rehabilitation

Finance

Control theory (sociology)

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.

The Cubli: A cube that can jump up and balance