Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model

Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process. Our approach is inspired...

Full description

Saved in:
Bibliographic Details
Main Authors: Wang, Sen, Chen, Jiaqi, Deng, Xuanliang, Hutchinson, Seth, Dellaert, Frank
Format: Conference Proceeding
Language:English
Subjects:
Brushes
Control
Learning for Soft Robots
Linear programming
Modeling
Motion and Path Planning
Optimal control
Optimization and Optimal Control
Real-time systems
Soft robotics
Trajectory optimization
Writing
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process. Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as a Chebyshev polynomial. The proposed dynamic virtual brush model plays a key role in formulating the objective function to be optimized. Our approach shows excellent performance in drawing aesthetically pleasing characters, and does so much more efficiently than previous work, opening up the possibility to achieve real-time closed-loop control.
ISSN:2153-0866
DOI:10.1109/IROS45743.2020.9341787