Actually I was trying to figure out how to use angular momentum and disk motion to manoeuvre like Cubli. Then i realise that cubli is one of the engineer masterpiece , It is not only changing the angular momentum, It is taking care of system vibration and and system lag.

This mechanism used by satellite to rotate in space (Check my Note )

Cubli Paper : https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Research_DAndrea/Cubli/Cubli_IROS2012.pdf