Thursday, December 1, 2022
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The one-wheel Cubli – Robohub


Researchers Matthias Hofer, Michael Muehlebach and Raffaello D’Andrea have developed the one-wheel Cubli, a three-dimensional pendulum system that may steadiness on its pivot utilizing a single response wheel. How is it attainable to stabilize the 2 tilt angles of the system with solely a single response wheel?

The secret is to design the system such that the inertia in a single course is increased than within the different course by attaching two lots distant from the middle. As a consequence, the system strikes quicker within the course with the decrease inertia and slower within the course with the upper inertia. The controller can leverage this property and stabilize each instructions concurrently.

This work was carried out on the Institute for Dynamic Programs and Management, ETH Zurich, Switzerland.

Nearly a decade has handed because the first Cubli

The Cubli robotic began with a easy concept: Can we construct a 15cm sided dice that may soar up, steadiness on its nook, and stroll throughout our desk utilizing off-the-shelf motors, batteries, and digital parts? The tutorial article Cubli – A dice that may soar up, steadiness, and stroll throughout your desk reveals all of the design rules and prototypes that led to the event of the robotic.

Cubli, from ETH Zurich.

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ETH Zurich
is without doubt one of the main worldwide universities for know-how and the pure sciences.

ETH Zurich
is without doubt one of the main worldwide universities for know-how and the pure sciences.




Daniel Carrillo-Zapata
was awared his PhD in swarm robotics on the Bristol Robotics Lab in 2020. He now fosters the tradition of “scientific agitation” to have interaction in two-way conversations between researchers and society.

Daniel Carrillo-Zapata
was awared his PhD in swarm robotics on the Bristol Robotics Lab in 2020. He now fosters the tradition of “scientific agitation” to have interaction in two-way conversations between researchers and society.

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