Start/stop

Scramble : spacebar
Abort : Esc

Turns

Left/right : E/D, I/K
Top/front : J/F, H/G
Bottom/back : L/S, O/W

Cube rotations

Pitch : Y/N
Yaw : ;/A
Roll : P/Q

Wide turns

Left/right : R/V, U/M

Hand shifts (for larger cubes)

Left hand : 4/3
Right hand : 7/8

External links

Rubik's Cube Solution 1 - A standard beginner approach
Rubik's Cube Solution 2 - An advanced approach that delves into cube theory
Virtual Rubik's Cube - The original version of this game