A cube which is able to jump up from a surface to one of its edges and balance. It is also able to "walk" and handle disturbances as well as being able to balance on a tilted surface.

The control system is divided into two parts, Jump Up Action and Balance Action. During the different actions, there are two separately controllers which are active. The system makes use of both PID controller and a LookUp tabled LQRcontroller with added integrated state. The Jump Up Action is done by a selfdeveloped mechanical brake, with insperation of a bicycle brake.

Developer: Erik Bjerke, Björn Pehrsson

The cube is developed as a master thesis at Chalmers and is supported by the company Combine AB, www.combine.se.

Gothenburg, Sweden 2016