What is a Cubli?

What is a Cubli?

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.

How do you make a self balancing robot?

Selecting the Parts for Self Balancing Robot

1. Arduino UNO.
2. Geared DC motors (Yellow coloured) – 2Nos.
3. L298N Motor Driver Module.
4. MPU6050.
5. A pair of wheels.
6. 7.4V Li-ion Battery.
7. Connecting wires.
8. 3D Printed Body.

Which motor is best for self balancing robot?

Stepper motor have been ideal for robots over time. These are of various type out of which Variable Reluctance type (VRSM) is popular one. Stepper motor are good at maintaining error free balanced applications without use of costly feedback controllers.

What sensors would you need to build a self balancing robot?

In order for the robot to be able to keep its balance, it requires sensors that allow it to measure its tilt accurately and at a high measurment rate. For this, we chose the MPU-6050, an IMU that combines a 3-axis gyroscope and a 3-axis accelerometer with an integrated circuit.

Why do reaction wheels fail?

So what can cause a reaction wheel (or two) to fail? Launch trauma can lead to mechanical problems, according to Cooper. Both the wheel and the motor that drives it have bearings that can be damaged by the g-forces and vibrations of being hurled into space.

How fast do reaction wheels spin?

between 1,000 and 4,000 revolutions per minute
The wheels are fixed in place and spin between 1,000 and 4,000 revolutions per minute, building up angular momentum in the spacecraft.

What is a GY-521 module?

The GY-521 module is a breakout board for the MPU-6050 MEMS (Microelectromechanical systems) that features a 3-axis gyroscope, a 3-axis accelerometer, a digital motion processor (DMP), and a temperature sensor. The digital motion processor can be used to process complex algorithms directly on the board.

How does self balancing robot work?

How Does Balancing Work? To keep the robot balanced, the motors must counteract the robot falling. This action requires feedback and correcting elements. The feedback element is the MPU6050 gyroscope + accelerometer, which gives both acceleration and rotation in all three axes.

Do satellites use reaction wheels?

Reaction wheels are an integral part of any type of satellite and spacecraft that secure three-axis attitude control without the need of external sources of torque, like rockets or propellants.

What is difference between gyroscope and accelerometer?

Accelerometer Versus Gyroscope Accelerometers measure linear acceleration (specified in mV/g) along one or several axis. A gyroscope measures angular velocity (specified in mV/deg/s).

What is a Cubli robot?

The result is Cubli, a small cube-shaped robot, named after the Swiss-German diminutive for “cube”. As you can see in the video, Cubli can balance robustly.

How does a Cubli work?

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.

Can a cube-shaped robot balance?

Following successful tests with the 2D version, a full robot was built. The result is Cubli, a small cube-shaped robot, named after the Swiss-German diminutive for “cube”. As you can see in the video, Cubli can balance robustly.

What is the Cubli project?

The project has been going strong since February 2011 at the Institute for Dynamic Systems and Control in Zurich, where it is starting to get quite impressive. We first shared Cubli earlier this year, when it was just a wee 2-dimensional and corded 3-dimensional prototype.