Abstract
This paper presents a novel robotic painting system able to create artworks using the palette knife technique. The implementation of this method with a robotic system is particularly challenging, since the robot needs to precisely manipulate the palette knife to pick up and release the color on the canvas. The painting system comprises a 6-DOF collaborative robot, a camera to acquire the information on the color position, and several algorithms for the artistic rendering of the images and for the planning of the trajectories that the robot has to follow. During the painting process the user can modify multiple parameters: both software, for example, stroke position and orientation, and hardware, for example, palette knife inclination and height, to obtain different stroke effects. Finally, the experimental results are discussed by analyzing the artworks painted by the novel robotic system.
Highlights
Art in its multiple forms is practiced by all human cultures; it is the fulfillment of the human desire to express emotions and creativity
The main contributions of this work can be summarized as follows: (a) the development of a novel robotic painting system capable of paining artworks using the palette knife technique, (b) the implementation of image processing and path planning algorithms that accounts for the orientation of the palette knife during paining, and (c) the experimental validation of the system
We provide an overview of the architecture of the robotic painting system, which consists of both software, that is, trajectory planning and image processing algorithms, and hardware components, that is, palette knife type (PK type in Figure 3), canvas, and paint
Summary
Art in its multiple forms is practiced by all human cultures; it is the fulfillment of the human desire to express emotions and creativity. EDavid is one of the most impressive examples of robot artists, capable of reproducing non-photorealistic images, using visual feedback and complex algorithms to simulate the human painting process. Another interesting example is given by Tresset et al [10], who developed Paul, a robotic installation that produces observational face drawings guided by visual feedback. The main contributions of this work can be summarized as follows: (a) the development of a novel robotic painting system capable of paining artworks using the palette knife technique, (b) the implementation of image processing and path planning algorithms that accounts for the orientation of the palette knife during paining, and (c) the experimental validation of the system.
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