Fine Grained Writing Control And Copy Method Of Strokes In Robotic Calligraphy

Brush calligraphy is not only an important part of the fine cultural traditions of China,but also an artistic treasure of all humanity.It requires good inheritance and promotion.The emerging robotic calligraphy has attracted widespread public attention and has become a research hotspot in the field of robotics.Robots are expected to replace people for calligraphy creation and become an important means of inheriting and promoting Chinese traditional calligraphy art.Aiming at the problems and deficiencies of the poor generality and coarse control of robot brush calligraphy,this paper proposes a new robot calligraphy method that aims to achieve finer grained and more flexible writing control.For the first time in the method,a finer grained,more general writing unit,the stroke element,is extracted from various strokes.Therefor,the stroke can be regarded as the interpolation result of the stroke element.In this way,we propose a method on stroke writing control and copying according to stroke element.The main work and results are given as follows:First,We proposes a basic unit of stroke primitive which is more granular and more general than the stroke itself,in order to achieve flexible and detailed description and writing control of different strokes.The specific stroke element is defined as a parametric multidimensional vector consisting of a pen-tracing vector,a starting handwriting width,a variation in handwriting width,an entrance angle,and a pen corner.Second,the theoretical analysis and experimental research on the main factors affecting the writing of brush,such as the depth of movement,the lag of the writing force,and the deviation angle of the writing force,have been put forward.The writing control and generating methods of the writing action of the main writing and stroke element have been proposed.Third,the image processing method of extracting the skeleton of strokes,which is mainly based on thinning method and supplemented by the largest disc method,is proposed.In combination with the edge geometric features of the strokes,the extraction method of the stroke element vector parameters is further proposed.Forth,a method for generating a robot's copying motion based on stroke element writing actions is proposed.On the basis of the Nachi MZ04 robot,an experimental system for robotic calligraphy was built,and experiments were performed on the main regular script strokes.The similarity of copy was used to verify the effectiveness of the method.