A robotic system that creates pixel art using a Franka Panda robot arm with colored stamps. The robot autonomously picks up colored stamps, dabs them on ink pads, and stamps pixels on a canvas to recreate digital images in the physical world.

This project implements an end-to-end pipeline for robotic pixel art creation:

• Computer Vision: Processes input images and converts them to robot-executable pixel coordinates
• Task Planning: Optimizes stamp usage and movement paths using Traveling Salesman Problem (TSP) algorithms
• Robot Control: Precise manipulation of a Franka Panda arm for stamp handling and pixel placement
• ROS Integration: Real-time pose estimation and coordination between vision and control systems

Input Image → Image Processing → Pixel Extraction → Task Planning → Robot Execution

• Vision Pipeline: ArUco marker detection for stamp pad localization
• Path Optimization: Christofides algorithm for efficient movement
• Safety Systems: Workspace bounds and collision avoidance

• Robot: Franka Panda 7-DOF arm
• Camera: RGB camera for ArUco detection
• Stamps: 4 colored stamps (Red, Green, Blue, Black)
• Ink Pads: Corresponding colored ink pads
• Canvas: White paper or canvas surface
• Markers: ArUco markers for pose estimation