The Cubli is a cube 15 × 15 × 15 that can pounce and balance on the corner of. Force feedback wheels are placed on three sides of the cube and rotate at high angular velocities and then brake sharply, dealing in Cubli to get up. Once the Cubli has almost reached the corner in order to stand upright, check the motor's torque to balance on the corner of. Apart from balancing, the engine torque can also be used to achieve a controlled fall such that the Cubli can receive command to fall into any arbitrary direction. Combining these three abilities – jumping up, Balancing, and controlled fall – Cubli is able to “walk”.