When you find a cube lying innocently on the table, you wouldn’t exactly expect it to jump up and start balancing itself on its edge or on its corner, will you? Probably not, if it wasn’t Cubli, the one designed at ETH Zurich. Well, it does not actually lift itself up by its own locks as Baron Munchausen was fond of doing, but Cubli the robo-cube can bring a smile on your face when you see its capers – watch its antics below.
Cubli, the 15x15x15 cm cube, has several spinning wheels and motors inside it. The contraption lets Cubli lie on one of its sides peacefully, then jump up to stand on an edge and proceed to tilt for balancing itself on one of its corners. By combining its jumping and balancing tricks, Cubli can even walk!
A closer inspection reveals three reaction wheels within the cube, one on each axis. These are able to spin at high speeds, as they have a motor each to drive them. The combined reaction of the three spinning wheels makes Cubli attain its uniquely stable postures. In fact, the positions are so stable that you can even nudge Cubli a little and it will resist falling over. Cubli can control its fall, allowing it to “walk” on a surface.
To control the speed of each of its wheels, Cubli has three motor-controllers, governed by an on-board processor and a bevy of inertial sensors. The motor-controllers rev up their individual motors based on the commands from the processor. Sensors monitor the tilt and angular velocity of Cubli at different points and feed this data to the processor to compute how fast each of its reaction wheels needs to spin to get Cubli to maintain its position.
By suddenly stopping the spinning of one of its reaction wheels, Cubli can jump up to one of its edges from its resting position and similarly, proceed to balance itself on its corner. Satellites use the same technique to keep themselves stable in orbit and Segway keeps you from falling off its scooter. However, the algorithms that Cubli uses are entirely different.
It feels funny watching Cubli walking. From its resting position, it rears itself up on its edge, hangs there for a moment and then gradually lowers itself on to the next side, repeating this sequence for its controlled walk. When Cubli is balancing on its edge or its corner, it will maintain its balance even if you tilt the surface on which it is resting.
All this is made possible because the spinning wheels act as gyroscopes. The momentum of the spinning wheels keeps the cube balanced. When one of the wheels slows down, it loses its momentum, and the center of gravity of the cube starts to pull it down. Speeding up the wheel improves the momentum and counterbalances its center of gravity, allowing Cubli to regain its position.
Another research group is considering using this amazing technology for building robots and using them for exploring other planets.
