Cubli takes this to the next level. Spacecraft are typically outside the effects of a large gravitational pull, and angular corrections are calculated only in the inertial frame of the craft. Cubli is working within another inertial reference frame, so all of its attitude adjustments must take into account that frame, that is gravity. Watching the video you can see the reaction wheels spin up and then quickly brake in order to bring the cube first up on edge, then on its vertex. The positioning of the cube is maintained using the reaction wheels, and the reaction wheels can also be used to control the direction of the fall, creating a "Walking" action.
There are more videos after the break, as well as a couple other pretty awesome projects at the Institute for Dynamic Systems and Control at ETH Zurich.
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