Representation of Drawing Behavior by a Robot

This paper describes a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.

[1]  Mark R. Cutkosky,et al.  On grasp choice, grasp models, and the design of hands for manufacturing tasks , 1989, IEEE Trans. Robotics Autom..

[2]  Katsushi Ikeuchi,et al.  Humanoid Robot Painter: Visual Perception and High-Level Planning , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[3]  Fumio Kanehiro,et al.  Cooperative works by a human and a humanoid robot , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[4]  Steven M. Seitz,et al.  Photorealistic Scene Reconstruction by Voxel Coloring , 1997, International Journal of Computer Vision.

[5]  Kazuhito Yokoi,et al.  A realtime pattern generator for biped walking , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  J. Napier.  The prehensile movements of the human hand. , 1956, The Journal of bone and joint surgery. British volume.

[7]  Kazuhito Yokoi,et al.  A tele-operated humanoid robot drives a lift truck , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[8]  Katsushi Ikeuchi,et al.  Marker-less Human Motion Estimation using Articulated Deformable Model , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[9]  Katsushi Ikeuchi,et al.  Toward automatic robot instruction from perception-mapping human grasps to manipulator grasps , 1997, IEEE Trans. Robotics Autom..

[10]  Katsushi Ikeuchi,et al.  Neural Network Based Foreground Segmentation with an Application to Multi-Sensor 3D Modeling , 2006, 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[11]  Masayuki Inaba,et al.  Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  A. Laurentini,et al.  The Visual Hull Concept for Silhouette-Based Image Understanding , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[13]  Hirochika Inoue,et al.  Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).