The instability of the 4x4 cube is potentially a reason why a robot similar to the Sub1 robot could not be produced six arms hold each centre piece of the Sub1 cube, whereas the 4x4 has no fixed centres, which means a less vigorous style of turning has to be developed. The cube is lowered to make rotations and raised to make turns. Once the cube has been scanned, a digital version appears on the smartphone screen and a solution is calculated (in the World Record video, the solution was 51 moves). The project took hundreds of hours of coding, constructing and tuning, but as a result it is the first robot that can independently inspect and solve a Rubiks Cube in 1 second. Using these pictures, the laptop mapped out the cube and the colours and calculated a solution of 20 moves using an implementation of Herbert Kociembas Two-Phase-Algorithm, and these moves were transferred to the robot which performed them and solved the puzzle. Upon the start of the solve, two cameras connected to a laptop took two pictures, each showing three sides of the cube. Program The Lego Mindstorms Mindcuber Find How To Build ThisĪ speedcube that had been modified to work with the robot (inspected and accepted by the World Cube Association) was scrambled with a randomly generated computer scramble.
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