Cubli:一个可以跳跃、平衡和行走的立方体

adminbbs

Cubli:一个可以跳跃、平衡和行走的立方体

它是一个15×15×15厘米的立方体，可以在它的角落里跳跃和平衡。在立方体的三个面上安装的反作用轮以高角速度旋转，然后突然刹车，导致立方体跳跃。一旦Cubli几乎达到了角站立的位置，控制电机扭矩，使其平衡在其角落。除了平衡，电机扭矩也可以用来实现控制下降，这样Cubli可以被命令往任何方向下降。结合这三种能力——跳跃、平衡和控制坠落——Cubli能够“行走”。
这项工作是在瑞士苏黎世联邦理工学院动力系统与控制研究所完成的。

adminbbs

https://www.youtube.com/watch?v=n_6p-1J551Y&t=90s


The Cubli is a 15 × 15 × 15 cm cube that can jump up and balance on its corner. Reaction wheels mounted on three faces of the cube 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. In addition to balancing, the motor torques can also be used to achieve a controlled fall such that the Cubli can be commanded to fall in any arbitrary direction. Combining these three abilities -- jumping up, balancing, and controlled falling -- the Cubli is able to 'walk'.

Lead Researchers: Gajamohan Mohanarajah and Raffaello D'Andrea

This work was done at the Institute for Dynamic Systems and Control, ETH Zurich, Switzerland and was funded in part by the Swiss National Science Foundation (SNSF), grant number 146717.

adminbbs

视频：https://www.bilibili.com/video/av74114687

adminbbs

论文

adminbbs

瑞士苏黎世联邦理工学院：https://idsc.ethz.ch/research-da ... /archive/cubli.html
制作wiki:http://mymechatronics.pbworks.com/w/page/78871268/Cubli%20Wiki
相关文章：https://robohub.org/swiss-robots ... k-across-your-desk/

adminbbs

代码及相关文件：
https://github.com/caiotoledo/Cubli_2016
https://github.com/croomjm/Cubli
https://github.com/ethz-asl

adminbbs

make 项目diy：https://hackaday.com/tag/cubli/