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One-Wheel Cubli Self Balancing Robot

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Single-point self balancing cube inspired by Cubli 🔶 Gadgetify

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This is the One-Wheel Cubli: an inverted pendulum system that can balance on its pivot using a single reaction wheel. It has 2 degrees of freedom. As the inertia in one direction is higher than the other, the system moves faster in the direction with the lower inertia.

The One-Wheel Cubli

This robot has inertial sensors that measure tilt angles and angular velocity. A microcontroller interprets the data to send commands to the motor.

[HT] [Researchers: Matthias Hofer, Michael Muehlebach, Raffaello D’Andrea || Design: Michael Egli, Matthias Müller]

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