We show how to construct an arbitrary robust one-qubit unitary operation with a control Hamiltonian of Ax(t)σx + Ay(t)σy, where σi is a Pauli matrix and Ai(t) is piecewise constant. Our method, based on planar geometry, admits a simple and intuitive interpretation. Furthermore, the total execution time and the number of elementary gates of the obtained sequence are comparable to those of the shortest known concatenated composite pulses.