The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of a Dual-Arm Drawing Robot using Line Segment Approximation of Image Edges

윤곽선의 선분 근사화를 활용한 양팔 화가 로봇의 개발

  • Kim, Jung-Kyu (Dept. of Information & Communications Engineering, Hansung University) ;
  • Lee, Sang-Pil (Dept. of Information & Communications Engineering, Hansung University) ;
  • Jung, Hye-Lim (Dept. of Information & Communications Engineering, Hansung University) ;
  • Cho, Hye-Kyung (Dept. of Information & Communications Engineering, Hansung University)
  • Received : 2014.07.22
  • Accepted : 2014.08.08
  • Published : 2014.08.28
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Abstract

This paper introduces a dual-arm robot painter system which is capable of sketching a camera-captured image with short line segments. To express various curved edges in the image by combining line segments, we first apply edge detection algorithm to the entire image, split the edged image into small boxed pieces, and then apply Hough Transformation to each piece so that the edges inside the piece can be approximated with short line segments. To draw the picture within a reasonable time, we designed a simple dual-arm robot system and controlled both arms concurrently according to linear interpolation algorithm. From the experiments, we could verify that simple linear motions can describe various images effectively with a unique brush style.

Keywords

Acknowledgement

Supported by : Ministry of Trade, Industry, and Energy(MOTIE, Korea)

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