Physics
Cubli: a cube balancing on its edge
A planar cube balances on an edge using a reaction wheel. Disturb the controller or launch it with a momentum-conserving wheel-brake impulse.
Try this
Balance on one edge, apply a kick or brake a precharged wheel to jump. This is the planar one-wheel model; wheel speed and motor torque are limited.
Equations used in the module
Equations Ib θ″ = m g l sin θ − τ − b θ′ Iw ω′ = τ Brake: Ω = (Ib θ′ + Iw ω)/(Ib + Iw) τ = clamp(Kp θ + Kd θ′ + Kw ω)
