The One-Wheel Cubli
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- Опубликовано: 27 июн 2022
- This video presents the One-Wheel Cubli, a three-dimensional pendulum system, that can balance on its pivot using a single reaction wheel. How is it possible to stabilize the two tilt angles of the system with only a single reaction wheel?
The key is to design the system such that the inertia in one direction is higher than in the other direction by attaching two masses far away from the center. As a consequence, the system moves faster in the direction with the lower inertia and slower in the direction with the higher inertia. The controller can leverage this property and stabilize both directions simultaneously.
Researchers: Matthias Hofer, Michael Muehlebach, Raffaello D'Andrea
Design: Michael Egli, Matthias Müller
Voice: Helen Hanimann
This work was carried out at the Institute for Dynamic Systems and Control, ETH Zurich, Switzerland. 
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Congratulations, this is really super cool and an extremely clear example of what is possible with underactuated systems!
Yay. Finally some new loot from Raffaello D’Andrea!
(If you haven't seen the single-propeller drone and the flying machines arena, then the algorithm has done you very bad.)
If the narrator speaks in an overpronounced British accent, you know this thing is the height of sophistication & design.
A German accent would be even better.
@@bbokser That would have an entirey different connotation
*_This is magic._*
If this was magic I shouldn't have to study it 😭😭
@@giacomomilan8692 But you're a wizard Harry!
I see that Raffaello is still working on this even after 8 years but what happened to Gajamohan?
Right at the end of this it shows how the Boston Dynamics shove tests can be improved to reduce the energy requirements
Is there any way i can have some snippets of the old 3 axis cubli? I wanted to build one myself ever since i saw it but i never have found any documentation on it 😢
Super cool
wOW! This is just the beginning. it is fascinating and the future of ... something (?) flight maybe. definitely impacting travel somehow....
The beginning was a decade ago or two, when broadly available microcontrollers and sensors put this sort of rapid closed loop control in hobbyist hands... Check out talks from Raffaello D'Andrea
I'm kind of surprised that the notable practical applications have come about in rocket science, of all things, with propulsive landers from NASA and SpaceX... while many other fields are on a brink of the same revolution: shipping, air and ground transportation, robotic kitchens, prosthetics, construction, warfare...
this is science
This is engineering :)
@@adrianhood4368 Thanks, came here to leave the same comment