Our group found inspiration in the labyrinth maze toys. In them, the user must move a ball through the maze to reach a desired end position by tilting the maze in different directions to navigate the ball around the walls. The goal of our project was to program the a 6 degree-of-freedom robotic arm to mimic this behavior. We wanted to incorporate both vision and real time feedback in our project so we planned on having a camera above the robot to first solve the maze and then provide the current ball position as the robot moved the ball to it’s goal position.

The final project combined real-time vision, planning, and control into a success project for our Experimental Robotics Graduate class.

CS225A Paper

Short demo video on YouTube

Longer demo video on YouTube