Human portrait generation system for robot arm drawing

This research aims to develop a human portrait generation system that enables the two-armed humanoid robot, Pica, to autonomously draw the face portrait of the person sitting in front of Pica. This portrait generation system converts a face image captured by the CCD camera installed on the head of Pica, to line segments that constitute a portrait of a good artist quality and are suitable for the robot arm to draw within a short period of time. A selected reduced number of pixel points on the line segments of the portrait are used to control the motion of the robot arm. The control points on the portrait plane are then automatically transformed into the robot's coordinates. A PD controller drives the motors of the robot arm to complete the real-time portrait drawing and signature.