Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens

Liu, Ruishuang; Wan, Weiwei; Koyama, Keisuke; Harada, Kensuke

doi:10.1109/tro.2021.3113996

Cited by 15 publications

(10 citation statements)

References 48 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Song et al presented a robotic pen-art system called SSK that can create pen art on arbitrary surfaces using impedance control [14] while minimizing drawing distortion [15]. Liu et al presented a robotic drawing system that can draw on a non-flat surface using closed-loop planning [16]. Generative art using machine learning is being increasingly used for robotic art.…”

Section: B Robotic Drawingmentioning

confidence: 99%

Stroke-based Rendering and Planning for Robotic Performance of Artistic Drawing

Ilinkin¹,

Song²,

Kim³

2022

Preprint

View full text Add to dashboard Cite

We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the stroke sequence should also exhibit a human artist's planning process. Thus, when a robot executes the drawing task, both the drawing results and the way the robot executes would look artistic.Our SBR system is based on image segmentation and depth estimation. It generates the drawing strokes in an order that allows for the intended shape to be perceived quickly and for its detailed features to be filled in and emerge gradually when observed by the human. This ordering represents a stroke plan that the drawing robot should follow to create an artistic rendering of images. We experimentally demonstrate that our SBR-based drawing makes visually pleasing artistic images, and our robotic system can replicate the result with proper sequences of stroke drawing.

show abstract

Section: B Robotic Drawingmentioning

confidence: 99%

Stroke-based Rendering and Planning for Robotic Performance of Artistic Drawing

Ilinkin¹,

Song²,

Kim³

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…Compared to conventional robotic drawing systems, the robot can recognise and pick up pens online and hold the pens to draw 3-D strokes, without fixing the drawing tools to the end of the robot arm. 14 Pencil sketching with a robotic arm is still rare because the pencil is easily worn and broken, as are other factors such as table flatness and prominent grayscale variation in the image. Hence, compliant force control is critical in pencil sketching.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Artistic robotic pencil sketching using closed-loop force control

Hung

Shaw

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

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.

show abstract

“…There are also examples of painting and drawing on 3D surfaces, such as in [16], where an impedance-controlled robot was used for drawing on arbitrary surfaces, and in [17], where a visual pre-scanning of the drawing surface using an RGB-D camera was proposed to improve the performance of the system. Moreover, in [18], a 3D drawing application using closed-loop planning and online picked pens was presented.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2022

View full text Add to dashboard Cite

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.

show abstract

Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens

Cited by 15 publications

References 48 publications

Stroke-based Rendering and Planning for Robotic Performance of Artistic Drawing

Stroke-based Rendering and Planning for Robotic Performance of Artistic Drawing

Artistic robotic pencil sketching using closed-loop force control

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

Contact Info

Product

Resources

About