Fast robotic pencil drawing based on image evolution by means of genetic algorithm

Adamik, Michal; Goga, Jozef; Pavlovičová, Jarmila; Babinec, Andrej; Sekaj, Ivan

doi:10.1016/j.robot.2021.103912

Cited by 15 publications

(7 citation statements)

References 13 publications

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“…The use of a robotic arm combined with a force sensor for pencil sketching is a novel topic with innovative applications. Compared to a new similar work 15 for robotic pencil drawing, the merits of this work include the following: (1) ease of implementation: since neither a complex design of a spring-loaded pencil holding tool is needed, nor constant calibrations of the pencil length are required when drawing, which would otherwise need to stop the drawing and move the pencil to a calibration point to compensate for the pencil wear. Only a typical force sensor commonly used for robotic arms and a regular pencil are used here and the use of a force sensor can provide more direct and adaptive contact force than the spring-loaded pencil holding tool; (2) less drawing time to complete a painting: less than 30 min in our artwork and about 1.5 h for the artwork.…”

Section: Discussionmentioning

confidence: 99%

“…Only a typical force sensor commonly used for robotic arms and a regular pencil are used here and the use of a force sensor can provide more direct and adaptive contact force than the spring-loaded pencil holding tool; (2) less drawing time to complete a painting: less than 30 min in our artwork and about 1.5 h for the artwork. 15 2. This study integrates digital image processing and path planning techniques without using the relatively complicated and time-consuming gradient-based or SBR algorithms for stroke generation.…”

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

“…However, it needs constant calibration by pressing the tool against a calibration nut after each cycle. 15 In this study, to overcome the pencil wear and compensate for the unevenness of the painting table, along with the consideration of image intensity variation, we attached a force sensor to the robotic arm to perform pencil sketching. A force sensor in combination with a proportional-integral-derivative (PID) controller can assure the robotic arm to apply a desired force when drawing and hence simulate human sketching strokes.…”

Section: Introductionmentioning

confidence: 99%

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Artistic robotic pencil sketching using closed-loop force control

Hung

Shaw

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This study introduces an artistic robotic painting system. The main purpose was to use a force sensor combined with a 6-axis robotic arm to create pencil sketches. Compared with other painting robots, our system has additional tactile sensing that can overcome the problem of pencil wear and can simulate the feeling of human sketches. To provide the robot with the capability to create paintings, our experiment used neural style transfer technology to extract the content and style image features and recomposed them into a new artwork. The newly generated image was processed for edge detection and further layered using methods, such as k-means clustering and image grayscale quantisation, resulting in a contour layer and multiple background layers. We carried out path planning of different layers according to the layering result, and we sorted the pixels by finding the shortest distance between them to plan a feasible path for the robotic arm at a higher speed. Finally, in the robotic arm painting experiment, we conducted two types of art creation: Chinese brush painting and pencil sketching. In the first type, we used position control to create a Chinese brush painting, and in the second type, we used a proportional-integral-derivative (PID) controller for force control to create pencil sketching. The experimental results show the validity of the proposed techniques in artistic robotic painting, both in Chinese brush painting and pencil sketching, with painting times of less than 30 min.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Artistic robotic pencil sketching using closed-loop force control

Hung

Shaw

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…More recently, in [13], a humanoid painting robot was shown, which draws facial features extracted robustly using deep learning techniques. In [14], a fast robotic pencil drawing system based on image evolution by means of a genetic algorithm was illustrated. Finally, in [15], a system based on a collaborative robot that draws stylized human face sketches interactively in front of human users by using generative-adversarialnetwork-style transfer was presented.…”

Section: Introductionmentioning

confidence: 99%

Robotic Sponge and Watercolor Painting Based on Image-Processing and Contour-Filling Algorithms

et al. 2022

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In this paper, the implementation of a robotic painting system using a sponge and the watercolor painting technique is presented. A collection of tools for calibration and sponge support operations was designed and built. A contour-filling algorithm was developed, which defines the sponge positions and orientations in order to color the contour of a generic image. Finally, the proposed robotic system was employed to realize a painting combining etching and watercolor techniques. To the best of our knowledge, this is the first example of robotic painting that uses the watercolor technique and a sponge as the painting media.

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