A Robot That Draws and Shades with Tactile Force Feedback Sensed Through a Pencil

This paper presents the current technical aspects, design rationale and drawing capabilities of a drawing robot in development. The robot is fitted with a load-cell sensor to provide tactile feedback – a sense of touch. The paper provides preliminary results of a robot able to autonomously control the pressure placed behind a pencil when drawing. The robot is also able to dynamically adapt to irregularities of the drawing surface and its own mechanics. The paper presents technical studies, which demonstrate the various capabilities of the robot to draw and shade.

Content

Author and article information

Contributors

Paul O’Dowd: Role: Independent Artist / Researcher

Conference

Publication date: July 2019

Publication date (Print): July 2019

Pages: 89-96

Affiliations

[0001]Bristol, UK

Article

DOI: 10.14236/ewic/EVA2019.19

SO-VID: 0157a43e-2663-4bea-86d5-ecd48eba13aa

License:

This work is licensed under a Creative Commons Attribution 4.0 Unported License. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

Conference name: Proceedings of EVA London 2019

Conference acronym: EVA 2019

Conference number:

Conference location: London, UK

Conference date: 8 - 11 July 2019

Conference sponsor: Electronic Workshops in Computing (eWiC)

Conference theme: Electronic Visualisation and the Arts

History

Product

1477-9358 BCS Learning & Development

Self URI (article page): https://www.scienceopen.com/hosted-document?doi=10.14236/ewic/EVA2019.19

Self URI (journal page): https://ewic.bcs.org/

REFERENCES

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K. W. KwokS. LoM. WongY. Yam 2006 Evolutionary replication of calligraphic characters by a robot drawing platform IEEE Int’l Conf. Automation Sci. & Engineering 466 71
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Comments

Comment on this article

[1] D. BerioS. CalinonF. Leymarie 2016 Learning dynamic graffiti strokes with a compliant robot International Conference on Intelligent Robots and Systems (IROS) IEEE/RSJ

[2] S. CalinonJ. EpineyA. Billard 2005 A humanoid robot drawing human portraits 5th IEEE-RAS Int’l Conf. on Humanoid Robots 161 6

[3] CUI Inc 2019 AMT10 https://www.cui.com/product/resource/amt10.pdf retrieved 18 March 2019 )

[4] M. FarokhiM. Hashemi 2011 The analysis of children’s drawings: Social, emotional, physical, and psychological aspects Procedia – Social and Behavioral Sciences 30 2219 2224

[5] D. FreedbergV. Gallese 2007 Motion, Emotion and Empathy in Esthetic Experience TRENDS in Cognitive Science 11 5): 197 203

[6] F. Dietrich 1986 Visual intelligence: The first decade of computer art (1965-75) Leonardo 19 2 159 69

[7] A. Hoff 2019 Inconvergent, Artist webpage http://inconvergent.net/ retrieved 18 March 2019 )

[8] J. Hollerbach 1980 An Oscillation theory of handwriting Biological Cybernetics 39 2):139 156

[9] S. KudohK. OgawaraM. RuchanurucksK. Ikeuchi 2006 Painting Robot with Multi-Fingered Hands and Stereo Vision IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 27 132

[10] K. W. KwokS. LoM. WongY. Yam 2006 Evolutionary replication of calligraphic characters by a robot drawing platform IEEE Int’l Conf. Automation Sci. & Engineering 466 71

[11] T. LindemeierJ. MetznerL. PollakO. Deussen 2015 Hardware-Based Non-Photorealistic Rendering Using a Painting Robot Computer Graphics Forum 34 2): 311 323

[12] Measurement Specialities 2019 FC22 Measurement Specialities Inc https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=FC22&DocType=DS&DocLang=English retrieved 18 March 2019 )

[13] S. MuellerN. HuebelM. WaibelR. D’Andrea 2013 Robotic calligraphy — learning how to write single strokes of Chinese and Japanese characters IEEE Proc. of IROS 1734 9

[14] P. O’Dowd 2018 Robot Poetics: A Materially Sensitive Drawing Robot J. BowenG. DiproseN. Lambert EVA London 2018 (Electronic Visualisation and the Arts) 104 112

[15] M. PelowskiP. S. MarkeyM. ForsterG. GergerH. Leder 2017 Move me, astonish me... delight my eyes and brain: The Vienna Integrated Model of top-down and bottom-up processes in Art Perception (VIMAP) and corresponding affective, evaluative, and neurophysiological correlates Physics of Life Reviews 21 80 125

[16] R. Plamondon 1993 Looking at handwriting generation from a velocity control perspective Acta Psychologica 82 1-3): 89 101

[17] K. Sawyer 2011 Explaining Creativity: The Science of Human Innovation Oxford University Press 2011

[18] A. ThomassenH. Teulings 1985 Time, Size and Shape in Handwriting: Exploring Spatiotemporal Relationships at Different Levels Time, Mind and Behaviour Springer Berlin Heidelberg

[19] P. TressetF. F. Leymarie 2013 Portrait Drawing by Paul the Robot Computers and Graphics 37 1)

[20] Twitter 2019) “#plottertwitter” Twitter Inc https://twitter.com/hashtag/plottertwitter?lang=en retrieved 18 March 2019 )

[21] R. Verostko 2019 The Algorists http://www.verostko.com/algorist.html retrieved 18 March 2019 )

[22] Wikipedia contributors 2019 "Delta Robot" Wikipedia https://en.wikipedia.org/wiki/Delta_robot retrieved 18 March 2019 )

[23] Wikipedia contributors 2019 "Occam’s Razor" Wikipedia https://en.wikipedia.org/wiki/Occam%27s_razor retrieved 18 March 2019 )

[24] Wikipedia contributors 2019 "Pencil" Wikipedia https://en.wikipedia.org/wiki/Pencil retrieved 18 March 2019 )

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