Painting robot with multi-fingered hands and stereo vision

Authors:
Shunsuke Kudoh;Koichi Ogawara;Miti Ruchanurucks;Katsushi Ikeuchi
Affiliations:
The University of Tokyo, Japan;Kyushu University, Japan;Kasetsart University, Thailand;The University of Tokyo, Japan
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

In this paper, we describe a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.