Uploaded February 2023 | Updated September 2026, 1 week ago
CUBOTino micro, the smallest Rubik's cube solver robot in the World, at least for commercial Rubik's cubes: Dimensions less than 9cm x 7cm x 9cm x 130gramms of 3D printed parts.
The robot works with a 30mm Rubik's cube keychain.
It tipically takes less than 50 seconds to solve a scrambled cube, additionally to 20 seconds to adjust the camera and read the cube status (a little longer when it shares graphical info via WiFi).
The robot is based on a Raspberry Pi Zero2W (ZeroW also ok) and Picamera; All coded in Python.
Used the clever Rubik TwoPhase solver library by Mr. Kociemba.
All the project details, to make your own robot, are available at: instructables.com/CUBOTtino-Micro-the-Worlds-Smallest-Rubiks-Cube-So
A big thank to PCBWay (pcbway.com/) who has sponsored the "Connections_board" of this project; The received PCBs are well made, and integrating now the Raspberry Pi ACT led on a visible position.
0:00 Read and solve
1:22 Dimensions
1:51 Other robots
CUBOTino micro, the smallest Rubik's cube solver robot in the World, at least for commercial Rubik's cubes: Dimensions less than 9cm x 7cm x 9cm x 130gramms of 3D printed parts.
The robot works with a 30mm Rubik's cube keychain.
It tipically takes less than 50 seconds to solve a scrambled cube, additionally to 20 seconds to adjust the camera and read the cube status (a little longer when it shares graphical info via WiFi).
The robot is based on a Raspberry Pi Zero2W (ZeroW also ok) and Picamera; All coded in Python.
Used the clever Rubik TwoPhase solver library by Mr. Kociemba.
All the project details, to make your own robot, are available at: instructables.com/CUBOTtino-Micro-the-Worlds-Smallest-Rubiks-Cube-So
A big thank to PCBWay (pcbway.com/) who has sponsored the "Connections_board" of this project; The received PCBs are well made, and integrating now the Raspberry Pi ACT led on a visible position.
0:00 Read and solve
1:22 Dimensions
1:51 Other robots
![Ball balancing robot, a new approach: MirrorBallBot [Raspberry Pi, RP2040, TMC2209, stepper motors]](https://i.ytimg.com/vi/ORftNl7bZG4/mqdefault.jpg "Ball balancing robot, a new approach: MirrorBallBot [Raspberry Pi, RP2040, TMC2209, stepper motors]
MirrorBallBot is an innovative yet simple ball balancing robot. Most ball balancing robots place the camera either above the platform (resulting in a taller structure) or underneath it (requiring a smaller platform). I wanted neither... so I added a mirror. Problem solved!
What it can do:
- Auto-balance – keeps the ball centered
- Follow your finger on the touchscreen in real time
- Record and replay custom paths
- Predefined paths: square, circle, triangle, infinity, line
- Automatic color calibration
Open source – Python / MicroPython
All files, code, schematics, 3D printing files, and a detailed manual are linked below.
Materials cost: ~€300
Special thanks to:
- ELECROW for sponsoring the 7 DSI touchscreen
- PCBWay for sponsoring the custom PCB and supporting the DIY community
Hope you like the project! Let me know what you think.
Links:
- GitHub: [https://github.com/AndreaFavero71/mirrorballbot]
Sponsors:
- PCBWay: [https://www.pcbway.com/]
- ELECROW: [https://www.elecrow.com/7-inch-800-480-dsi-display-touch-screen-with-bracket-compatible-with-raspberry-pi.html?idd=5]
0:00 Disturbance rejection of the robot
0:10 Introduction to MirrorBallBot
0:27 Finger-follower and path recording feature
0:53 Classic camera placement
1:18 Solving the camera placement with a mirror
1:56 Predefined geometrical Paths
2:47 Touchscreen graphical interface
3:14 Calibration, and automatic ball color calibration (HSV) demo
3:35 Commercial components (stepper motors, Raspberry Pi camera, 7-inch DSI touchscreen by ELECROW)
3:51 Custom PCB (Raspberry Pi HAT) by PCBWay
4:25 Electronic (Raspberry Pi 4B, RP2040, TMC2209)
5:04 Open Source, files and conclusions
#robot
#3dprinting
#DIY
#BallBalancingRobot
#OpenSource
#RaspberryPi
#ComputerVision
# Ball Balancing Robot")
