dutchkiwifruit

That would be fine too but I dislike the idea for aesthetic reasons.

Bobrow’s research mentions a set of equations that can be used to derive the controller gains based on a set of dynamics-related parameters of the cube (like inertia, mass), but the results were unsatisfactory, so I tuned the gains by hand. But in theory, yes.

Thank you!

Fusion 360 calculates things like moments of inertia and weight, and this was very helpful since the controller requires these parameters to convert control inputs to torques, for example. I still had to tune the controller gains, of course. (Which I did by hand.)

Agreed. If only to enable others to reproduce and improve on the work.

My envisioned solution to this - very real! - danger is to attach some very thin round sheets of steel to the wheels such that you can’t stick your fingers in them.

That would be cool. I thought about balancing one cube on top of another balancing cube, but sadly I’ve only got one.

The house always wins!

Thank you! The weight of each wheel is approximately 220 g, whereas the total weight of the cube including wheels is 1700 g.

Yes, the reaction wheels normally rotate very slowly.