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--></style><title>a cube that can jump up, balance, and
walk</title></head><body>
<div><i> T h e C u b l i </i> i s a 1 5 x 1 5 x 1 5
c m c u b e t h a t c a n j u m p u p a n d
b a l a n c e o n i t s c o r n e r . R e a c t i o n
w h e e l s m o u n t e d o n t h r e e f a c e s o f
t h e c u b e r o t a t e a t h i g h a n g u l a r
v e l o c i t i e s a n d t h e n b r a k e
s u d d e n l y , c a u s i n g t h e C u b l i t o
j u m p u p . O n c e t h e C u b l i h a s a l m o s t
r e a c h e d t h e c o r n e r s t a n d u p
p o s i t i o n , c o n t r o l l e d m o t o r t o r q u e s
a r e a p p l i e d t o m a k e i t b a l a n c e o n
i t s c o r n e r . I n a d d i t i o n t o
b a l a n c i n g , t h e m o t o r t o r q u e s c a n
a l s o b e u s e d t o a c h i e v e a
c o n t r o l l e d f a l l s u c h t h a t t h e
C u b l i c a n b e c o m m a n d e d t o f a l l i n
a n y a r b i t r a r y d i r e c t i o n . C o m b i n i n g
t h e s e t h r e e a b i l i t i e s - - j u m p i n g
u p , b a l a n c i n g , a n d c o n t r o l l e d
f a l l i n g - - t h e C u b l i i s a b l e t o
' w a l k ' .</div>
<div
>https://idsc.ethz.ch/research-dandrea/research-projects/archive/cubl<span
></span>i.html</div>
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<div><a
href="https://youtu.be/n_6p-1J551Y">https://youtu.be/n_6p-1J551Y</a></div
>
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