Abstract
We present a system that paints graffiti art with applications in art preservation, human-robot collaboration, and other tasks which require large-scale dynamic motion. The problem of painting graffiti in a human style is particularly challenging and requires a systems approach because the art and robotics must be designed around each other. Our approach consists of three stages: artwork capture, robot hardware, and robot planning and control. We use motion capture to capture collaborator painting motions which are then composed and processed into a time-varying linear feedback controller for a cable-driven parallel robot (CDPR) to execute. In this work, we will describe the capturing process, the design and construction of a purpose-built CDPR, and the software for turning an artist's vision into control commands. While we acknowledge that further work is needed for a system which can perfectly recreate human artwork, our results represent a contribution by demonstrating that we can reproduce artist motions up to 2m/s and 10m/s$^2$ within 2cm to paint artworks.
Abstract (translated)
URL
https://arxiv.org/abs/2109.06238
