Jigsaw: The Puzzle-Solving Robot

Introduction

• Jigsaw: A robot designed to assemble jigsaw puzzles quickly and efficiently.
• Development took three years, potentially 200x faster than the fastest human puzzle solver.
• Project involved preparing for a contest between the robot and a human jigsaw puzzler.
• Emphasis on appreciating human dexterity despite automation.

The Human Advantage

1. Picking Up Pieces:

   • Human hands have 27 bones and 34 muscles, along with precise dexterity.
   • Opposable thumbs aid in handling objects.

2. Rotating Pieces:

   • Requires human hand precision.

3. Positioning Pieces:

   • Human arms, shared anatomy with other vertebrates, allow complex movements.

4. Finding the Right Fit:

   • A combination of visual perception, pattern recognition, spatial reasoning, and executive function allows humans to quickly determine the fit of a puzzle piece.
   • Human brains, despite physical limitations, are highly energy-efficient and crucial for advanced cognitive tasks.

Developing Jigsaw

• Task: Emulate complex human processes in a robot.

1. Pickup Mechanism:

   • Utilizes a specialized suction cup often used in factories.

2. Rotating Pieces:

   • Achieved with a precise donut motor.
   • Can make minute adjustments (0.005 degrees).

3. Moving Pieces:

   • Adaptations made to a CNC router with upgraded servo motors for precision.
   • Absolute precision in placing puzzle pieces on a board.

4. Positioning Pieces:

   • The most challenging step.
   • Replication of human brain's pattern recognition and spatial reasoning through a computer logic-based solution.
   • Edge analysis: photos are taken, edges are converted into splines, and then matched.
   • Sources of errors addressed by utilizing a z-height encoder on a spring-loaded linear slider for feedback.

Building Process

• Took three years to develop.
• Overcame a major setback with help from a fellow YouTuber.
• Achieved precision in robotic movement and gripping tasks.
• Introduced a tactile feedback mechanism for piece placement precision.
• Solved simplified 30-piece and complex 1000-piece puzzles.
• Successfully faced off against human jigsaw puzzler Tammy.

Key Takeaways for Human Puzzlers

1. See all pieces simultaneously.
2. Starting with edge pieces might not always be the best, depending on puzzle complexity.
3. Segment the puzzle into manageable chunks for pattern recognition.
4. Organize remaining pieces based on shape and orientation to ease identification and placement.

Conclusion

• Jigsaw was created to rival human performance in solving puzzles.
• In a face-off, Jigsaw successfully assembled a 1000-piece puzzle in four hours, showcasing robotic precision over human ability.
• The creation process of Jigsaw highlights the challenge of replicating human cognitive and physical abilities in robotics.

Additional Resources

• For those interested in building programmable robots and enhancing engineering skills, explore the CrunchLabs Hack Pack for teenagers and adults, available at CrunchLabs.com.