Inertia Cube

Introduction

Please see the paper describing the project.
http://ethanweber.me/cube/InertiaCube_EthanWeber.pdf

The GitHub repo is at https://github.com/ethanweber/cube.
The commit used for these videos and the paper is here.

Swing Up

MPC Upright Stabilization

MPC Swing-Up

Limit Cycle