Blocks World Redox

A robot arm that reads a scene and mirrors it - MIT, 2014.

At MIT in 2014, with Professor Larry Sass and Dr. Daniel Smithwick of the School of Architecture and Planning, we set out to build a robot that complements human creativity: instead of only following a program, it analyses a scene and responds to it.

Given an arrangement of 2D shapes, the robot picks the right pieces from a pile by colour and shape, then copies, mirrors or rotates the arrangement with a KUKA robotic arm.

I designed the rule-based vision system that reads the scene - its boundaries, the reference line, and the position and shape of each piece - and guides the arm through inverse kinematics.