Painting robots, like e-David, are currently unable to create precise strokes in their paintings. We present a method to analyse given brushstrokes and extract their trajectory and width using a brush behaviour model and photographs of strokes painted by humans. Within the process, the robot experiments autonomously with different brush trajectories to improve the reproduction results, which are precise within a few millimetres for strokes up to 100 millimetres length. The method can be generalised to other robotic tasks with imprecise tools and visible results, like polishing or milling.A cam is a rotating disk, on which a follower rests. The changing radius of the cam moves the follower up and down, thus translating rotational to linear motion. This is for example used in combustion engines, where a camshaft opens and closes the fuel valve.Arts 2018, 7, 84 3 of 28 one revolution. The followers then transfer the motion through amplification mechanisms to the end effectors Droz (2014).The "Musician" is a machine that plays a functional miniaturised organ by pushing the instrument's keys. The "Writer" produces a 40 letter text by reading each letter from a reconfigurable wheel and using an ink-quill to write on a sheet of paper Mahn (2013), Schaffer et al. (2013). This automaton is interesting as it represents one of the early programmable machines and introduces the concept of encoding information in shaped metal plates-a process that was later used to store sound information in vinyl records.The "Artist" is capable of producing four different paintings: a portrait of King Louis XV; the couple Marie Antoinette and Louis XIV; a dog with "Mon toutou" written next to it; and a scene of a butterfly pulling a chariot Mahn (2013). Each scene consists of many lines drawn with a pencil that the automaton holds in its hand. These sketches are literally hard-coded into the metal cams inside the machine and cannot be reconfigured easily. The automaton and two of its stored drawings can be seen in Figure 1. Furthermore, the painter periodically blows away the graphite dust left behind by its pencil using an integrated air pump. This feature is not found in any contemporary painting robot, despite this being potentially useful for selectively drying paint Schaffer et al. (2013). Stroke Reproduction ResultsAn application of stroke reproduction is copying human writing, as shown in Figure 9. The example presented here was performed by the robot using only its optical systems. The prototype writing was photographed, each individual stroke was extracted and analyzed with the method described in Section 4.4. Additionally, the distance between strokes was preserved. Then the robot was able to write the presented text on a separate sheet of paper. In principle every type of writing or sketch can be reproduced with this method, as long as no self-overlapping strokes are used.for the deformed brush lagging behind the intended trajectory. For example, in areas of high curvature 417 in the prototype stroke, the first attempt will common...
E-David (Electronic Drawing Apparatus for Vivid Image Display) is a system for controlling a variety of painting machines in order to create robotic paintings. This article summarizes the hardware set-up used for painting, along with recent developments, lessons learned from past painting machines, as well as plans for new approaches. We want to apply e-David as a platform for research towards improving automatic painting and to explore machine creativity. We present different painting machines, from small low-cost plotters to large industrial robots, and discuss the benefits and limitations of each type of platform and present their applicability to different tasks within the domain of robotic painting and artificial creativity research. A unified control interface with a scripting language allows users a simplified usage of different e-David-like machines. Furthermore, we present our system for automated stroke experimentation and recording, which is an advance towards allowing the machine to autonomously learn about brush dynamics. Finally, we also show how e-David can be used by artists “in the field” for different exhibitions.
An important aspect of robotic painting is replicating human painting techniques on machines, in order to automatically produce artwork or to interact with a human painter. Usually, painterly rendering techniques are transferred to the machine, and strokes are used as the basic building block of an image, as they can easily be mapped to the robot. In contrast, we propose to consider regions as a basic primitive to achieve more human-like results and to make the painting process more modular. We analyze the works of Kadinsky, Mondrian, Delaunay, and van Gogh to show the basis of region-based techniques in the real world and then transfer them to an automatic context. We introduce different types of region primitives and show procedures for how to realize them on our painting machine e-David, capable of painting with visual feedback. Finally, we present machine-created artwork by painting automatically generated sets of shapes in the styles of various artists.
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