Cubli is a 15 × 15 × 15 cm robotic 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 it to jump up. Once the 5.9-inch Cubli has almost reached the corner stand up position, controlled motor torques are applied to make it balance on its corner.
This work was done at the Institute for Dynamic Systems and Control, ETH Zurich, Switzerland. Watch the video below.