The Kuutio: an autonomous balancing cube

This paper covers the development of the Kuutio, a 150 x 150 x150 mm autonomous balancing cube that should jump up and successfully balanced on its edge using one of its three reaction wheels. Balancing in 1 DOF was performed within submillimetre accuracy at the top corner measuring the angular rate with a gyrometer. Using high-pass and low-pass filtering, the control algorithm for motor torque was implemented in a non-dimension form in an embedded environment (Arduino Due). The jump launch is facilitated by a brake system and works by suddenly braking the reaction wheels. This system is not tested yet. This project is part of the Mechatronic Product Design specialization in the sixth semester of the Mechatronics education program at Avans University of Applied Sciences.