Dynamic modeling of a self-balancing cubical robot balancing on its edge

Aiming at the problem of self-balancing control of a cubical robot, this paper researched the dynamic modeling of the cubical robot balancing on its edge. Using the prototype of cubical robot built as the research subject, the dynamic model was derived with Lagrangian method and Kane method. The correctness of the model was verified in theory by comparison of the two methods. The controller, designed based on the mathematical model, was used in balance control of the physical cubical robot prototype. The correctness of the model was verified again with the obtained expect effect. This dynamic model developed can provide a base for further study of balance control of a cubical robot balancing on its corner.