Move sequence
I developed the algorithm that defines the valid disk transfers required for the robot to solve the puzzle.
Robotics · Group course project
Tower of Hanoi with Franka.
Programming a physical Franka robot to solve the Tower of Hanoi puzzle through a planned move sequence and carefully taught robot positions.
The challenge
Turning puzzle logic into reliable robot motion.
The goal was to make the Franka robot solve a physical Tower of Hanoi puzzle. The program needed both a valid move sequence and robot positions that allowed the gripper to pick up, transfer and place each disk safely.
The user prepares the puzzle in the demonstrated starting arrangement and starts the program. The robot then executes the programmed sequence automatically.
My contribution
Algorithm, programming and setup.
Franka workflow
I worked with the team to build and test the sequence in Franka’s own programming environment.
Taught poses
I helped place the robot and define the correct working positions for reliable picking and placement.
Move algorithm
A 32-step robot sequence.
I created this move table to translate the Tower of Hanoi solution into robot actions. Each row defines the disk transfer between pegs A, B and C and maps that transfer to the Franka positions used before and after the move.
Peg-to-peg transfer
Entries such as A → C describe where the current disk must move in the puzzle.
Taught locations
Pairs such as 1 → 13 tell Franka which programmed positions to use for the pick and place operation.
Ordered sequence
The complete 32-step table was implemented in Franka Desk and executed in order to solve the physical setup.
Robot in action
Complete puzzle demonstration.
Programming workflow
Building the sequence in Franka Desk.
These still images from my private explanation recording show how the robot program was structured. The explanation video itself is not published.
Result & learning
A working physical solution.
The group produced a working program that enabled the Franka robot to solve the physical puzzle from the prepared starting state.
The most demanding parts were designing the move logic and learning the Franka environment. Through the project I gained practical experience in algorithm design, robot programming, taught positions and collaborative debugging.