Yes, Cubigo has an iOS app.
You can simply download the Cubigo app from the App Store on your iPad or iPhone. Search for Cubigo and you will find it. The app is completely free.
We advise you to allow automatic updates for this app-
The app can be found here: https://itunes.apple.com/us/app/cubigo/id716897756?mt=8
A manual for using Cubigo on the iPad can be found here.