Stroke trajectory generation experiment for a robotic Chinese calligrapher using a geometric brush footprint model

Abstract

This paper describes a method to generate stroke trajectories executed by a 5-DOF robotic art system. A brush footprint model is proposed to represent the footprint outline, which is sensitive to the applied stress. After extracting real brush footprints from experiments, the model parameters are obtained using linear regression. Trajectories are searched along the segmented strokes of Chinese characters by varying the shape of brush footprint. The generated trajectory is 5-DOF, which is compatible to the robot art system. Simulations and experiments were conducted using calligraphy of Bada Shanren, a famous Chinese ancient artist, as an example.

Learning dynamic graffiti strokes with a compliant robot

“…Also in recent years, a number of studies have been carried out towards the reproduction of East Asian calligraphy strokes with a variety of robotic devices, ranging from articulated arms [15], [16], [3], [17], to specifically built Cartesian drawing systems [5], [18], [19], as well as Unmanned Aerial Vehicles (aka drones) [20]. While most of these works focus on a careful reproduction of the brush pressure and footprint, we put an emphasis on the study of the relationship between the movement employed in trajectory generation and the resulting trace.…”

A data-driven robotic Chinese calligraphy system using convolutional auto-encoder and differential evolution

“…The main focus of research for robotic writing is the trajectory generation methods for robots to write characters or letters using a pen or ink brush [1,2,3,4,5], but this is not necessarily the case for Chinese calligraphy robots.…”

Systems design and implementation with jerk-optimized trajectory generation for UAV calligraphy

“…To the best of our knowledge, there are, however, no research or successful example of calligraphy writing with any aircraft or flying machine. The closest example sees the development of an omnidirectional ground vehicle to perform calligraphy writing [10], while most of the development in automated calligraphy writing was realized with robotic arms [5,18,19,31,37].…”