BlockBuilder: Autonomous Color Block Selection and Structured Arrangement

Kshitij Madhav Bhat, Manyung Hon, Juan Muerto, McKenzie Young

16-662: Robot Autonomy Project

Robotics Institute, CMU

Abstract

• This project implements an autonomous robotic system that uses a Franka Emika seven-degree-of-freedom robotic arm to pick and place colored blocks. The system is designed to create structured patterns, like "color walls," by identifying colored cubes, grasping them, and arranging them into organized rows.

• The system operates autonomously and with high precision, demonstrating the ability to perform simple manipulation tasks repeatedly and accurately, even in changing environments.

Hardware Setup

Perception System

Results

Picking success by color

Picking success by block position in X

Picking success by block position in Y