[Cubex] First corner balancing of Cubli based hardware

You shouldn't judge a book by a cover they say, and likewise you shouldn't judge a project by what just meets the eye. During our current master thesis work I had the chance to get better acquainted with some of the works of among others Leonhard  Euler and Joseph-Louis  Lagrange. These people spent thousands of hours on things that have been  beneficial to even the whole human race. Few people know this though.Why? Because the works consist of truckloads of books full of equations, and it is not as easy to see the use of this as for instance painting a wall or something that is easily recognized and valued. 

This stands in contrast to Cubli. It makes use of abstract science in a way that is perceivable more easily. Although it is a great deal of fun to use the results of among others Euler and Lagrange for various things  it is useful to also demonstrate the concrete use and validity of it for ourselves and others. Therefore we choose to do our master thesis around a Cubli based platform constructed by thesis workers last year. This variant of Cubli was coined Cubex by us, Cube for cube and the -ex for an acronym used for thesis work (examensarbete) in Swedish.  The thesis focuses on many more aspects than corner balancing. For instance a new approach for a solve for Model Predictive Control has been evaluated. Here we are trying an own algorithm for finding the actual location of the center of gravity together with Linear Quadratic Control.