Most of the dynamics and kinematics involved are thoroughly discussed in the research work that has been published by the authors of the original Cubli! For exa

Most of the dynamics and kinematics involved are thoroughly discussed in the research work that has been published by the authors of the original Cubli! For example: https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Research_DAndrea/Cubli/RevisedManuscript.pdf https://ethz.ch/content/dam/ethz/special-interest/mavt/dynam...