Robot Ruby breaks Rubik's cube record (my uni project)

Discussion in 'Science' started by dakiller, May 31, 2011.

  1. dakiller

    dakiller (Oscillating & Impeding)

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    Last year I did my final year project in Mechatronic Engineering/Computer Science degree and a team of 6 of us built a robot to solve a Rubiks cube as fast as we could. Now it just got released to the press -

    http://www.physorg.com/news/2011-05-seconds-robot-ruby-rubik-video.html

    There is a video on the website of it solving a cube in 10.69 seconds

    Edit: On engadget - http://www.engadget.com/2011/05/30/robot-ruby-solves-rubiks-cube-in-10-69-seconds-still-cant-bea/




    For more behind the scenes videos, I got these below, for more awesome robot action :D







    The basic rundown of operation is that there are 2 systems, the PC software and the embedded microcontroller hooked together via a USB serial link. The camera connected to the PC scans in the cube and detects the colours and determines the cube in the computer, then runs through a tree search algorithm (our own implementation of Kociemba's Algorithm) that finds a list of moves that will solve the cube. That is then fed to the microcontroller which has some big DC servo controlled motors and solenoids that manipulate the robot grippers, to the physical solving of the cube.

    For what was a project that we were hoping would just be able to work in the first place, once we got our first really successful and reliable run, the first thing we wanted to do was make it go faster and the fact that we have yet to find a robot that can do it quicker is simply an amazing result in the end
     
    Last edited: Jun 1, 2011
  2. aznpsuazn

    aznpsuazn Member

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    You built that? Respect!!! So anyway how do you determine what the fastest time really is, because every rubiks cube is setup differently? Some might be less steps to solve than others..... What do you go by?
     
  3. JoJoker

    JoJoker (Banned or Deleted)

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    Fuck. I did this back in high school with lego but it took 10 minutes :(

    It's sick :D
     
  4. dakiller

    dakiller (Oscillating & Impeding)

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    The time for the Guinness records have them solve 5 different cubes and the average the the 3 middle times is taken. And to scramble it, at least 40 random turns are needed to ensure that it is random
     
  5. asher001

    asher001 Member

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    Amazing. Great project.
     
  6. lothloriel

    lothloriel Member

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    Mate that is awesome:thumbup:

    The same course i'm doing at uni! Of all my units the mtrx ones are on a completely different level of awesome.

    Is your video analysis a static grid search for that specific cube's dimensions or can it dynamically detect the grid for whatever size cube you put in (i.e. depending on the size of the image from the camera)
     
  7. Lasmi

    Lasmi Member

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    So do we have to knock off dakiller before he starts building T-1000's? :p

    Very impressive :thumbup:
     
  8. dakiller

    dakiller (Oscillating & Impeding)

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    We had both a tracking capture and a static one, the dynamic one was created first and while pretty cool, was slow and a bit unreliable at times and once we got a fixed camera put in place, it was quickly put aside for just putting a static grid and taking the average of each square as the position of the cube wouldn't change.

    Testing the old tracking vision system -


    More pictures

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  9. HUMMER

    HUMMER Member

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    I believe arnie has been sent to destroy him.
     
  10. Fortigurn

    Fortigurn Member

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    Sensational work, well done guys. :)
     
  11. James086

    James086 Member

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    Is that an Intel stock cpu heatsink on each of the robot arms behind the servos?

    Awesome work though, it seems each day that we humans have something more too fear from robots. :p
     
  12. HUMMER

    HUMMER Member

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    you better start worshiping your new overlord. i know i am.
     
  13. 8MadDog8

    8MadDog8 Member

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    Nice work mate! Looks very impressive

    Go Swinburne :D
     
  14. -Ace-

    -Ace- (Banned or Deleted)

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    Awesome work, is all the software built in-house?
     
  15. Resident

    Resident Member

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    You better believe it is!. Thanks Kelvin!

    Hey Daniel!

    This was a pretty fun project, I'm glad you guys enjoy it. Feel free to upvote it on reddit (link). We want to see if it can be the most popular video on the Swinburne youtube channel.
     
    Last edited: Jun 1, 2011
  16. Resident

    Resident Member

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    Yep, we did everything from scratch (programming, circuit design, case/gripper design etc).
     
  17. Zylatis

    Zylatis Member

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    Fuckin pro, yo.
     
  18. hlokk

    hlokk Member

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    Pretty cool. Would be awesome to have your own project come together so well. Lot of acheivement there.

    For the webcam, i'm guessing from one face it cant determine the configuration of the cube (seeing as the back layers can rotate), so how does the program find out the configuration? I'm guessing it rotates a few layers to determine then figures out how to solve?

    Just thinking, if you had a camera on the corner of the perspex case you would have an isometric view of the cube, and could determine the config quicker with no wasted moves. You could just use fixed sampling, so wouldnt need fancy image processing (as you found with just one face). Not sure if you'd need two or one cameras, probably just one if you know three touching faces?

    Also, you said servo controlled motors. Are they servos, or steppers?
     
  19. craigoss

    craigoss Member

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    That is freaking awesome. Well done :thumbup:
     
  20. fallen_dragon

    fallen_dragon Member

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    that is so freakin awesome!

    though whats with the perspex cover, the OH&S bastards get to u? :p
     

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