I. Introduction
The cubical robot is a robot device that shaped like a cube and driven by internal moment generator. The cubical robot could balancing on its edge or corner, and is a typical nonlinear, unstable and multi-freedom spacial inverted pendulum, which can be used as an ideal verification platform for controlling theoretical verification [1]–[3]. The cubical robot can jump up by the inner torque producer device. And multi cubical robot can be used for space exploration and other fields as group robot could realize self-assembly [4].