A robot drawing platform supporting four degrees of freedom (x, y, z and z-rotation) of a brush-pen motion for studying Chinese painting and calligraphy has been operational in our laboratory. This paper describes the real-time capturing and data analysis of the brush footprint using the new hardware and software capabilities in the platform. They include a transparent drawing plate and an underneath camera system, together with projective rectification and video segmentation algorithms. Preliminary result of the footprint analysis and nonparametric modeling, and their applications to well-known Chinese calligraphy are demonstrated.

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A robot drawing platform supporting five degrees of freedom (x, y, and z translation, z-rotation, and pitch) of a brush-pen movement is under development. The platform is aimed at the acquisition, learning, and execution of human techniques in Chinese brush pen painting and calligraphy. Both replication of existing works and rendition of new styles are planned. This paper describes the addition of vision-based capabilities to the platform, together with a demonstration of how the vision information can be used to rectify incorrect decision on branch points in iterative steps.

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