Stroke trajectory generation experiment for a robotic Chinese calligrapher using a geometric brush footprint model

Authors:
Josh H. M. Lam;Yeung Yam
Affiliations:
Department of Mechanical and Automation Engineering in the Chinese University of Hong Kong, HKSAR, China;Department of Mechanical and Automation Engineering in the Chinese University of Hong Kong, HKSAR, China
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper describes a method to generate stroke trajectories executed by a 5-DOF robotic art system. A brush footprint model is proposed to represent the footprint outline, which is sensitive to the applied stress. After extracting real brush footprints from experiments, the model parameters are obtained using linear regression. Trajectories are searched along the segmented strokes of Chinese characters by varying the shape of brush footprint. The generated trajectory is 5-DOF, which is compatible to the robot art system. Simulations and experiments were conducted using calligraphy of Bada Shanren, a famous Chinese ancient artist, as an example.