This Rubik's Cube Was Solved With Drone Motors
2023 ж. 30 Қар.
48 509 Рет қаралды
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This is sickkk. Awesome video! Hope you get the views this deserves :D
I love your videos dude! Thanks!
insanely underrated channel
No cap
I bet you could modify the solver algorithm to allow opposite motors to turn at the same time. the right and left motors could turn in 4 different permutations at the same time, and every time they get used instead of a single motor turn, you chop off a move. Given that most algorithms allow for face turns and not just quarter turns, youd be adding a huge number of possible moves. I bet that would reduce the number of needed turns from 20 to ~16-18, but that's pure conjecture. If this doesn't work with the algorithm you used here, I'd love to see you use the original meet in the middle algorithm using these modified moves (even if just once since you'd have to wait on the solve for a long time) to show the fastest possible solve your machine could do.
Yep I've had my eye on an algorithm that someone made that does exactly that. I'll be exploring this in the future. With the standard kociemba algorithm there are few opportunities to pair moves in such a way that they can occur simultaneously.
LED strips inside could help with consistent lighting. What a great video though, good job! :)
Bro... you are a MADMAN! And I mean that as the highest form of compliment. Pretty impressive results. Honestly, I thought that, if someone knows how to solve the Rubik's cube, and they are halfway decent at maths, they could probably (after many headaches) come up with a very crude, really inefficient set of rules and logic for solving the cube, and pat themselves on the back; but then when you started talking about the colour recognition for the software, I was like, 'damn, one really does have to be a little bit crazy to take on a project like this' 😃
Absolutely love your channel. The way you challenge yourself with these builds is amazing to watch.
That was the coolest thing I watched on KZhead in months. 😢
Great video! I've made a similar project a few years ago, and i got to the same conclusions when it came to identifying the color of the facets. I did notice that switching to HSV as some of the other comments suggested helped in color identification.
This is awesome! I remember a rubiks cube solver project that I saw for the old lego robot kits, it was really cool to be able to build it and have it solve a cube, even if it was really slow. You should think about trying to tackle making a robotic solver for larger cubes, like 4x4 or 5x5, would probably be orders of magnitude more difficult but I'm sure you would find a way.
Yep, I've totally gotten hooked on your videos. If you ever need some parts machined for your projects (if 3d printing just won't do) let me know. I'd be happy to lend a hand. I'm in the Dallas area, but I can ship parts.
Really appreciate your efforts in making this project (and solving the challenges). Controlling the BLDC so precisely is great and combining the robotics with one of the most fascinating puzzles of all time is really inspiring. Congrats!
Awesome project and super well edited! Boiler up!
Really impressive project! It’s sick you were able to get it to work so clean. Boiler up!
This video and project are amazing. Good job!
Wow, incredible job from start to finish! Have you considered using the HSV color space for your detection algorithm instead of RGB? It is far more common in computer vision and I think you would find it much easier to tune.
My favorite video of the week, cheers Aaed!
awesome results! use of the DC motors was a good choice
OMG, not just remarkable ingenuity but the matching learned skills adapted to implement them in so many disciplines. Right down to screw lengths and friction reduction without WD40 or even the lady's moisturiser cream. Huge congratulations to a huge young brain.
Aaed, I am in love with your videos dude. FOC controllers look so much better than using stepper motors with stepper motor drivers. I'm definitely making the switch for my robot.
This video deserves way more views, keep it up!!
Top notch content my dude! More please!
This is some amazing work and a great video!
Dope video. 👌 If color/light is still a problem, might be worth trying a different color space than RGB, such as HSV or LAB for image processing
this is really cool. i was wondering if the black and white problem might be due to an overflow error with the RGB values. idk, still this is so inspiring
this is insane! great video!
Incredible. Love this content
Fantastic video, thanks for sharing!
I really love the clicky sound it makes.
Yeah this one definitely deserves a like.. very nice!
Great video! The cost of 12 ODRIVE S1 is eye watering (am I seeing this right: $150 per controller??)! I am currently working on a project that uses FOC as well and have found the ST B-G431B-ESC1 ($20 per unit), which does not come with many features pre-programmed, but you can program the STM32G431CB, which is on the board, to do any controls you want. It unfortunately clocks the charge pump at the motor bridge switching frequency, which might cause some problems when operating at low speeds.
With FOC, you are using PWM, so the charge pump is not a problem at all. But you can't do 100% duty cycle though, which is only a problem if you want to have full torque at a very specific rotor position, and the rotor is stuck, but those cases are highly unlikely, like extremly unlikely to cause troubble...
Awesome build! I’m a speedcuber (but slow!). You can buy your own custom stickers :)
Another great video. Thank you for this.
Quality video, quality content, quality personality. Baited me with the cube and hooked me with my love for engineering. Subscribed!
Amazing work, instant follow
Vert well made video! thank you for sharing you process with us! really cool!
Hi! I have a similar project that i'm developing, and I came up with an idea that may help you solve problems with color identification. The thing is, you dont need to identify if a facelet is red or orange, but just what facelet has the same color as the other. This way, you'll be identifying color groups, and not the exact color. To give the cube's pattern to the kociemba's algorithm, pick a corner and assign it's color groups to white, green and red. Iterate over the other corners, checking if it has 2 color groups matching the first corner. If it does, then the third unmaching color groups are opposite colors. E.g: the first corner has groups 1,2 and 4, and I assigned 1=White, 2=Green, 4=Red. If the second corner has groups 1, 4 and 3, then color groups 2 and 3 are opposites. Since 2 is Green, then 3 is Blue. The kociemba's algorithm will work the same, since you'll be giving it the same cube, just with a different simmetry! Hope it helps you get the WR 😂 (who knows? haha)
It would be cool to know how you scramble the cube each time. Great video dude!
You give us hope for the next generation, young man. Keep at it! Checking my subscription status right after this comment!
Wow, excellent video as always. I wish more people knew about this channel
amazing work as always
Great project!
Such a great channel. Instant sub! Amazing project. Would love a deeper discussion on the algorithm!
Rather than increasing infill for things like the shafts you should try increasing the wall thickness, the further the material is out from the centre of rotation or bending the more strength it will add. You should also consider using a different material for printing parts, PLA is good and works well for a lot of things but there are much stronger plastics you can get.
wonderful project, i love it, Im recently begun learning to code Arduino and seeing a world of options open for me, and being a mechanical engineer i know i can build things, and now make them move, like you are doing here, very well done, love the challenge to yourself, that's how we all learn and move forward
100% agree!
Fantastic video, as always! I wonder, since you are using the o-drives, if you could use current sensing to determine when the cube has been jammed and immediately release the motors to reduce damage/strain on the cube.
For me, it's easier to shut everything off by hand than to program it to shut off. Once it's tuned properly jamming isn't an issue.
@@aaedmusa Fair! I wasn't sure at first but upon rewatching the video I think I misunderstood - I thought you were destroying multiple cubes and had to replace them when they jammed or loosened. Being able to shut it off by hand and fix the cube is definitely better!
Dude, so underrated. Your gonna blow up soon
Great video!
Great Videos. Keep it up man!
i just came across your channel, you should be famous! great videos and projects! keep it up :)
I've never subscribed to a channel so fast.
Just for the algorithm. You definitely deserve it
Love your stuff bro 🔥
Your videos are more interesting and detailed than James Burton. I am definitely subscribed for life my man 🎉. I know making these projects and assembling these videos takes a massive amount of time, so let me support you by sponsoring you a bit of cash, add a Thank$ button or something!
Awesome video dude. Keep it up :)
Very similar style to "Stuff made here" I'm all for it though, more experimental engineering projects that are just plain cool & fun
Well done!!!
The pixy confuses black with white because it's transforming the colors into HSV space and black and white are just varying degrees of saturation of the same (arbitrary) hue
this is so good i really like it. can you build another version of it but inner one like the motors and all are inside the cube
You are the best, keep going my friend
Get that bag! Sponsored already🤯
the way I like to set heat insert nuts is to heat it with my soldering iron (i have the special tip which does help inserting accurately) and then ill push it like 3/4 of the way in, and then press it in the rest of the way with something flat. Comes out almost perfectly every time.
10:25 BAHAHAHA. The humour in this video was on point lmfao
How are you not more popular. Your content is pretty close to Stuff Made Here. Keep up the good work! I strive to have the skills you have!
Gained a subscriber here! Algorithm’s being great tonight! Fantastic video, fantastic production quality, content and pacing… Thankyou.
How do you not have 1M subs dude, this is inspirational content!
This is great!
Great video! Subbed!
I subscribed your channel your effort is precious
This is so awesome. I also built a Rubiks cube solver, that could solve cubes in under 0.7 seconds. I did it with cheap normal Nema 17 Stepper Motors, but I really like the idea of using drone motors. As others have suggested there is a different version of the kociemba algorithm that is optimized for solving machines wich turns 2 sides at once, which reduces the amount of steps needed. For me corner cutting worked great to a degree. I did not tension the cube that hard and was able to use the corner cutting during the acceleration/deceleration phase, which decreased the time by a lot. Maybe try just a bit of corner cutting and slowly step it up till you reach the limit. Especially the early phases of the acceleration is where you can get the biggest time benefit.
With cheap Nema 17’s? That’s almost world record time. How many moves were your under 0.7 second solves?
@@aaedmusa Yes, I did a lot of tuning and the motors/drivers where running right at their limits xD I burned through a LOT of the drivers. Because I used the specific algorithm, it was about 17-19 steps the machine had to do. (When counting the double moves as one)
@@theoneandonly2025 Have you posted this project anywhere that I can take a look?
@@aaedmusa I only have the earlier prototypes on my Instagram, but have never come around to post the final version. I really should do it xD. I wrote documentation for it, but it is completely in German.
@@theoneandonly2025 I would love to see it if you wouldn't mind. Also, if you could share the algorithm that you used that would be great help for my next iteration.
Strengthen the walls. 3D printing uses walls for strength, so make more wall layers.
Leaving a comment mainly to incentivise the YT algorithm into promoting your work, your videos are amazing and inspiring and more people should see them
I think you have excellent skills good luck
Aaed cooked once again
14:32 You could put two colored rings on every shaft so there are always all six colors on camera for reference. That way, recognizing the colors doesn't depend on the lighting.
Just a quick tip. Use inrunner motors with long, but small diameter rotor to keep the inertia as low as possible. Lubricate the cube as well with some low viscosity grease or oil to keep the friction down, needing for even less power from the motor, further reducing the innertia. That way you can increase the acceleration/deceleration. Nice build though. ;)
I already had these motors from a previous project. At high speeds, high friction is actually preferred not to mention that the cube can be tensioned even if friction is a problem. Thanks though!
For detecting the color HSB makes much more sense because you’re independent of brightness and saturation. Also the stiffness of the brackets might be a bit low so they the motors move out of alignment quite a bit. Other than that cool project 😊
Thanks for the input. I have had a lot of people recommend HSB. Unfortunately the cameras that I use don’t support HSB. RGB is doable with consistent lighting. As for the brackets are you referring to the brackets that the motors are mounted onto? If so those are very stiff. There are 8 screws on each.
Here is a pro tip. If you want to remove sharpie ink all you need is a dry erase marker. Just write over the sharpie ink with the dry erase then simply wipe it clean with a paper towel immediately after and it'll come right off.
interesting! never tried that
@@aaedmusa Works every time. That's how I used to have a whiteboard for house chores on a permanent grid. Make grid and column labels in sharpie and then write the cells in dry erase. That way the grid is permanent but if you need to redraw the grid the write over the sharpie ink with dry erase and wipe it off the whiteboard. Enjoy!
Great project. Really well done and presented. Subscribed. Knowing nothing about that algorithm... if it's optimized for the lowest number of moves (?), that may not be speed optimal for your setup. You may see a speed increase by adding moves, if they can be done simultaneously (opposite sides of the cube)
This may be true with some solves, but I don’t have the knowledge to create a new algorithm to do what you propose. I basically just downloaded this algorithm and used it as is. For the most part, this algorithm is going to be pretty optimal. I’ll look into this more in the future.
Very interesting. Is there a need to test the position of the facets after every move? Just scan the initial positions and calculate the new positions. And maybe if you do the calculation during the move in a separate thread of the processor (if your processor has this capability) you gain some time.
It only scans the cube before a solve. When the motors start turning the cameras are not used.
cool project, i still have the OG 2 channel Odrive but its just sitting around :P
Really! I use ODrives for everything at this point.
Instead of increasing infill to make the parts more resistant, consider increasing number of walls when printing.
Very nice engineering. Got a link to those motors? I can't seem to find the 90KV version.
How fast can you solve a Rubik's Cube?
My current top time is less than one cube per year 😂
last time I tried and failed was probably when I was 10, so assuming the timer is still going, 24 years and still counting!
About 36 secs
My record is 21 seconds i rarely go above 40. Anyway amazing project
my pb is 33 but I average on 36
Amazing work! I know nothing about Rubik's Cube solving; but could you rotate two opposite sides of the cube simultaneously to increase solve time?
Yes, but that can only happen under specific circumstances: when two sequential moves are on opposite faces. With this algorithm, it doesn't happen too often. Generally, sequential moves are on adjacent faces meaning that they have to occur independently rather than simultaneously.
This guy is cracked, i could not imagine tuning that
Really nice video
You probably already thought of it but one possible optimisation is making use of the fact that you can turn opposite motors at the same time without the cube jamming. To make best use of the optimisation the solver should consider rotating opposing sides at the same time as a single move.
very cool!
I've never heard facet pronounced that way but in the context of a sub component of a face it sounds right
What iPad app is that? Also, one thing that could have helped with your motor shafts would be printing them horizontally. I’d imagine the shear strength would improve significantly.
OneNote
This is great. As someone who does robotics where vision can get messed up and lighting is out of control, I feel your pain. This has given me some good ideas on how to optimize our vision algorithms, so thank you.
Bro deserves at least 500k subs, what a legend
Always love your videos! This channel IS so underrated. How about aluminum or carbon fiber shafts to minimize the blocking of the camera view? Could also lighten up the part a well as reducing the rotational inertia. Btw, some alcohol would have taken that sharpie off quite quickly.
I assume you mean aluminum/carbon fiber shafts that are thinner than my current shafts? That could work, but the method that I created has a 100% success rate in finding the hidden facets whereas camera vision doesn’t. It’s also cheaper than buying custom shafts. I’ll be working on lighting and inertia in the next version. I don’t have any kind of alcohol at home so scratching it just seemed to be the easiest thing to do in the moment lol. Thanks for the input!
@@aaedmusa of course. I was actually thinking more towards the rotational inertia originally, then started thinking about the camera to be able to shave off some of the solve time. I’m sure processor speed must also be a consideration as well as any other bottlenecks you are encountering. At the end when you were talking about the looser cubes being better for humans because they can cut the corners on the next move. Are you sure you can’t use that to your advantage in your build? I realize your stated reason for the tight cube… By the way, thanks for interacting.
@@z0mb13h0rd3 Yep. Corner cutting would require a loose cube. A loose cube works very poorly at high speeds. Like I mentioned, the MIT guys came to this conclusion in their testing. I also tried it out and got a lot of jams as a result.
@@aaedmusa right, you did say that. Slipped my mind. So much of it comes down to the places you can cut down time, in data acquisition, processing, parallel moves, and move speed. You solved it in such few moves, there doesn’t seem any gain there. Fantastic work! You have my admiration per usual. Do you have a project for winter break, or are you taking a proper break?
@@z0mb13h0rd3 I think there’s a few more things I can do to reduce time in terms of the algorithm and motor settings. Anything beyond that will just have to be done by changing the motors or gearing them down. I’ll be working on a robotic actuator design this winter break.
Keep in mind, more walls>more infill when strengthening 3d prints. Kinda like how tube is almost as strong as bar.
100% infill > more walls
Field oriented control, and open source controllers are the best thing to happen to motion control.
Fax!
Alternate title: these specially made rubiks cube motors are now being used for drones
Drone ESCs can have braking too, it’s probably not as good as the ODrive braking but they can have it.
First, I have to say, with all the crap going on in N. America and the world, it is SOOOO refreshing to see a young man with genius-level abilities.... AND a sense of humor!!! RARE! It was also energizing to see such motivation and passion in creating this device and getting it to work. I'm very VERY familiar with designing something, only to have the stupid PLA parts break. LOL I see this man becoming one of the best engineers on the planet. He may even become one of the best in robotics!!!
Yo, you're a genius.
How fast of a drone could you build with 6 of these motors (on top of and below) a crbon fiber body if you were to keep the Weight wayyyy wayyy down low?
No idea. I'm not really into aviation. I never intend to use these drone motors to actually make a drone lol.