Toward Robotic Artist: The Case of Simulated Bird-Sketching Robot

This work presents a pipeline for obtaining sketching movements in a simulation of a bird sketching robot. The robot first takes an image containing bird subjects projected on a dedicated screen and then captures the bird object via an essential object detection tool. The second utilizes promising sketch generation processes to transform the object into a sequence of pencil-like strokes. The third involves the conversion of the sequence into cartesian space 3D trajectories. Finally, the inverse kinematics will translate the previous data into commands that drive the robot’s movements. The target experiment concerns the fine movements of the robot during a sketching demonstration with different canvas locations. The advantages of this work are twofold: 1) In terms of robotic application, the presented pipeline and the underlying transformation can be exploited in real robots or other related robotic domains such as drawing and coloring. 2) as a supporting tool, human novices can learn how to sketch specific birds they want from this adequate robotic demonstrator.