Portfolio

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2x2 Rubik's Cube Solving Robot

This robot was designed and created by myself and Devin Luu, and autonomously solves scrambled 2x2 Rubik's Cubes. Its base plate and mounting brackets are made from aluminum sheet metal, and its tray and gripper are made from 3D printed ABS plastic. The tray is driven by a stepper motor, and the gripper is driven by two hobby servos. A webcam along with a clustering algorithm identifies the puzzle's state, and an iterative-deepening breadth-first search (using solved subsets of the puzzle as heuristics) is used to find all optimal solutions for the state. The fastest mechanical solution is determined from the set of optimal solutions, and is communicated to the robot's microcontrollers.

Media:
YouTube Video
Robot (Without Camera)
Screenshot of GUI