Design and Implementation of Dual-Arm Robot Rubik’s Cube Solving System

The existing Rubik’s cube robots are developed based on specialized hardware structures, such as six axis and rolling robots, which have no other use except for cube solving. In the future, humanoid dual-arm robots will work for every family, including doing housework, tutoring homework, etc. In this paper, we design and implement a Rubik’s cube solving system based on the dual-arm robot named Baymax. The system consists of three nodes, including the visual perception node, the cube solving node and the motion control node. The visual perception node is to recognize the color sequence of the cube by using HSV color mode. The cube solving node uses the Kociemba algorithm to calculate the action sequence to restore the cube. The motion control node implements eighteen actions by using RRT-Connect algorithm. It executes the actions according to the sequence. Experiments show that the success rate of the system designed in this paper is 86%.