A force-controlled portrait drawing robot

Abstract

Abstractj There has been a lot of research in recreational uses of robots. A robot drawing the portrait of a human face is one such famous task. This makes the robot behavior more human-like and entertaining. There have been several demonstrations of portrait drawing robots in past few years. But the existing techniques can draw only on pre-calibrated and flat surfaces. This paper demonstrates a robot equipped with force sensing capability that can draw portraits on a non-calibrated, arbitrarily shaped surface. The robot is able to draw on a noncalibrated surface by orienting its drawing pen normal to the drawing surface, the penj s-orientation being computed from the forces being sensed. In this way, the robot is also able to draw portraits on arbitrarily shaped surfaces without knowing the surface geometry. This avoids the need for calibration of robot with respect to the drawing surface. A number of portraits were drawn successfully on a flat surface without calibration. Also a map outline was drawn on a spherical globe to demonstrate the ability of robot to draw on an arbitrarily shaped surface.

LinesLab: A Flexible Low‐Cost Approach for the Generation of Physical Monochrome Art

“…Jain et al . [JGKS15] developed a force‐controlled robot that was able to draw on arbitrary surfaces. A similar approach was taken by Jun et al .…”

“…Prévost et al [PJJSH16] used an interactive optimization process to guide the user in the creation of largescale paintings with spray paint. Jain et al [JGKS15] developed a force-controlled robot that was able to draw on arbitrary surfaces. A similar approach was taken by Jun et al [JJC*16], where a humanoid robot capable of drawing on a wall was developed.…”

Automatic and Flexible Robotic Drawing on Complex Surfaces With an Industrial Robot

“…The drawing is interpolated with Bézier curves and an impedance control is used to draw on unknown nonplanar objects. In [14], a force/torque sensor is mounted on the end-effector of the drawing robot. With this information, the robot is able to draw on objects, whose relative position to the robot is unknown.…”

Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application

“…A transitional x-y plotter has limits in terms of work space and becomes more expensive for large work sizes. Most portrait drawing robots/humanoid robots make use of multi-degrees of freedom for robot arms [2][3][4][5]. However, it may be too costly to use a robot arm in drawing a picture or portrait.…”