Cubli

本項目的目標是建構一個立方體，該立方體可以驅動飛輪和制動器並利用動量守恆原理去實現不同的動作，例如翻滾,跳躍到邊或角並保持平衡，圍繞一個角旋轉等等。
自平衡方塊採用了線性二次調節(LQR)作最優化控制系統。通過線性化模型調整成本函數，以控制 輸入和機械人性能能達到最佳的平衡。採用了慣性測量器和編碼器用於監控機械人實時狀態。最後為了實現跳躍運動，學生基於物理模型開發了開放式回路系統，為跳躍運動提供前饋控制輸入。
The goal of this project is to construct a cube structure that can jump up and balance on its edges and corners using reaction flywheels and brakes. Utilizing the principle of conservation of momentum, the motors and brakes on the robot can spin up or slow down the onboard flywheels to generate torque of fascinating motions such as flipping, balancing on an edge, or even spinning about one corner.
The optimal linear-quadratic-regulation (LQR) controller is employed to control the robot. The cost function is tuned by basing on the linearized model to balance controller input and robot performance to achieve the optimal performance. An inertial-measurement unit (IMU) and encoders are used to monitor the state of the robot.

[@jeroenlekens]

Does this design utlize braking mechanisms to perform jumps or can applying reverse torques facilitate jumps?

[@izaya8986]

Care to share the code and bom? Would love to make one