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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(More)
In this paper, the techniques of an experiment-based brush footprint acquisition method and a genetic algorithm (GA)-based brush stroke generation scheme are combined. The combined method is applied to replicating a given Chinese character. Additionally, a new method to come up with the brush stroke skeleton to facilitate Bezier representation of the brush(More)
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(More)
This paper presents techniques for robot drawing on a contoured (2.5D) surface and their implementation using a 3-DOF robotic sketching platform. The related algorithms include pen tip trajectory generation from given digital image and point projection on a contoured surface. The trajectory generation is conducted with existing digital image operations(More)
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