Skip to main content Accessibility help
×
Home

A sketch drawing humanoid robot using image-based visual servoing

  • Meng-Cheng Lau (a1), John Anderson (a1) and Jacky Baltes (a2)

Abstract

This paper presents our sketch drawing artist humanoid robot research. One of the limitations of the existing artist humanoid robot is the lack of feedback on the error that occurs during the drawing process. The contribution of this research is the development of a humanoid robot artist with drawing error correction capability. Based on our previous work with open-loop control pen-and-ink humanoid robot artist, we have implemented a closed-loop visual servoing approach to address this problem. Our experimental results show that this approach is sufficient to correct drawing errors that occur due to mechanical limitation of a robot.

Copyright

References

Hide All
Akinlar, C. & Topal, C. 2011a. Edlines: a real-time line segment detector with a false detection control. Pattern Recognition Letters 32(13), 16331642. http://www.sciencedirect.com/science/article/pii/S0167865511001772
Akinlar, C. & Topal, C. 2011b. Edlines: real-time line segment detection by edge drawing (ed). In 18th IEEE International Conference on Image Processing (ICIP), 28372840.
Atoofi, P., Hamker, F. H. & Nassour, J. 2018. Learning of central pattern generator coordination in robot drawing. Frontiers in Neurorobotics 12. https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6064740/
Baltes, J., Cheng, C. T., Lau, M. C. & Anderson, J. E. 2011. Cost oriented automation approach to upper body humanoid robot. In Proceedings of the 18th IFAC World Congress, Milano, Italy.
Baltes, J., Tu, K.-Y., Sadeghnejad, S. & Anderson, J. 2017. Hurocup: competition for multi-event humanoid robot athletes. The Knowledge Engineering Review 32e1.
Bourquardez, O., Mahony, R., Hamel, T. & Chaumette, F. 2006. Stability and performance of image based visual servo control using first order spherical image moments. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 43044309.
Brown, P., Bigge, B., Bird, J., Husbands, P., Perris, M. & Stokes, D. 2005. The drawbots. http://www.sussex.ac.uk/Users/philh/pubs/drawbots-muta-final-small.pdf [Accessed 25-July-2011].
Calinon, S., Epiney, J. & Billard, A. 2005. A humanoid robot drawing human portraits. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOID 2005), IEEE-RAS, Tsukuba, Japan.
Chaumette, F. & Hutchinson, S. 2006. Visual servo control, part I: Basic approaches. IEEE Robotics and Automation Magazine 13(4), 8290.
Chaumette, F. & Hutchinson, S. 2007. Visual servo control, part II: Advanced approaches. IEEE Robotics and Automation Magazine 14(1), 109118.
Chu, H. K., Mills, J. K. & Cleghorn, W. L. 2011. Image-based visual servoing through micropart reflection for the microassembly process. Journal of Micromechanics and Microengineering 21(6), 065016. http://stacks.iop.org/0960-1317/21/i=6/a=065016
Clever, M. 2013. Makelangelo 2. http://www.marginallyclever.com/blog/drawbot [Accessed 31-July-2013].
Cohen, H. 1994. The further exploits of aaron, paiter. http://crca.ucsd.edu/~hcohen/cohenpdf/furtherexploits.pdf [Accessed 13-June-2011].
De Luca, A., Oriolo, G. & Giordano, P. R. 2007. On-line estimation of feature depth for image-based visual servoing schemes. In Proceedings 2007 IEEE International Conference on Robotics and Automation28232828. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4209517
Franklin, G. F., Powell, D. J. & Emami-Naeini, A. 2001. Feedback Control of Dynamic Systems, 4th edition, Prentice Hall PTR.
Gommel, M., Haitz, M. & Zappe, J. 2004. Autoportrait project: portrait drawings with a robotic arm. http://www.robotlab.de/auto/portrait.htm [Accessed 20-May-2011].
Hill, J. & Park, W. 1979. Real time control of a robot with a mobile camera. In Proceedings of 9th ISIR, Washington, D.C., 409417.
Hodges, S. E. & Hall, T. 1996. Looking for a cheaper robot: visual feedback for automated PCB manufacture. http://www.ifm.eng.cam.ac.uk/automation/publications/papers/seh-thesis.pdf
Hutchinson, S., Hager, G. & Corke, P. 1996. A tutorial on visual servo control. IEEE Transactions on Robotics and Automation 12(5), 651670.
Instruments, N. 2011. Control laws. http://www.ni.com/white-paper/8156/en/ [Accessed 04-April-2012].
Kennedy, D. & Osuga, R. 2012. Calligraphy robot uses a motion copy system to reproduce detailed brushwork. http://www.diginfo.tv/v/12-0181-r-en.php [Accessed 31-July-2013].
Kragic, D. & Christensen, H. 2002. Survey on Visual Servoing for Manipulation, Technical report, Centre for Autonomous Systems, Numerical Analysis and Computer Science.
Kudoh, S., Ogawara, K., Ruchanurucks, M. & Ikeuchi, K. 2009. Painting robot with multi-fingered hands and stereo vision. Robotics and Autonomous Systems 57279288.
Lau, M. C. & Baltes, J. 2010. The real-time embedded system for a humanoid: Betty. In Proceedings of the 13th FIRA Robot World Congress, Communications in Computer and Information Science 103, 122129, Springer-Verlag.
Lin, C. Y., Chuang, L. W. & Mac, T. T. 2009. Human portrait generation system for robot arm drawing. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore. IEEE, 17571762.
Liu, Y., Mejias, L. & Li, Z. 2012. Fast power line detection and localization using steerable filter for active uav guidance. ISPRS12 XXXIX–B3, 491496.
Lu, Y., Lam, J. H. M. & Yam, Y. 2009. Preliminary study on vision-based pen-and-ink drawing by a robotic manipulator. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore. IEEE, 578583.
Nomura, H. & Naito, T. 2000. Integrated visual servoing system to grasp industrial parts moving on conveyer by controlling 6DOF arm. In 2000 IEEE International Conference on Systems, Man, and Cybernetics 3, 17681775.
Olsson, T., Bengtsson, J., Johansson, R. & Malm, H. 2002. Force control and visual servoing using planar surface identification. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC. IEEE, 42114216.
Ruchanurucks, M., Kudoh, S., Ogawara, K., Shiratori, T. & Ikeuchi, K. 2007. Humanoid robot painter: Visual perception and high-level planning. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy. IEEE, 30283033.
Sasaki, K., Noda, K. & Ogata, T. 2016. Visual motor integration of robots drawing behavior using recurrent neural network. Robotics and Autonomous Systems 86184195. http://www.sciencedirect.com/science/article/pii/S0921889016305383
Singh, A. K., Baranwal, N. & Nandi, G. C. 2017. Development of a self reliant humanoid robot for sketch drawing. Multimedia Tools and Applications 76(18), 1884718870.
Siradjuddin, I., Behera, L., McGinnity, T. & Coleman, S. 2010. Image based visual servoing of a 7 dof robot manipulator using a distributed fuzzy proportional controller. In 2010 IEEE International Conference on Fuzzy Systems (FUZZ), 18.
Srikaew, A., Cambron, M. E., Northrup, S., Peters, R. A., II, Ii, R. A. P., Wilkes, D. M. & Kawamura, K. 1998. Humanoid drawing robot. In Proceedings of the IASTED International Conference on Robotics and Manufacturing.
Team, O. D. 2013a. Geometric image transformations. http://docs.opencv.org/modules/imgproc/doc/geometric_transformations.html# [Accessed 18-July-2013].
Team, O. D. 2013b. Structural analysis and shape descriptors. http://docs.opencv.org/modules/imgproc/doc/structural_analysis_and_shape_descriptors.html [Accessed 20-June-2013].
Tresset, P. & Leymarie, F. F. 2005. Generative portrait sketching. In Proceedings of the 11th International Conference on Virtual Sytems and MultiMedia (VSMM’05), VSMM, Ghent, Belgium, 739748.
Tresset, P. & Leymarie, F. F. 2006. Aikon: The artistic/automatic ikonograph. In ACM SIGGRAPH 2006 Research Posters, SIGGRAPH’06. ACM. http://doi.acm.org/10.1145/1179622.1179664.
Tresset, P., Leymarie, F. F. & Khaorapapong, N. 2011. Skediomata: guinea pig and performer. In Proceedings of the 17th International Symposium on Electronic Art, Istanbul, Turkey. ISEA Press.
Tsunashima, N. & Katsura, S. 2010. Reproduction of human motion using motion-copying system based on coordinate modification. In IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society16091614.
Vahrenkamp, N., Boge, C., Welke, K., Asfour, T., Walter, J. & Dillmann, R. 2009. Visual servoing for dual arm motions on a humanoid robot. In 9th IEEE-RAS International Conference on Humanoid Robots, 2009. Humanoids 2009, 208214.
Vahrenkamp, N., Wieland, S., Azad, P., Gonzalez, D., Asfour, T. & Dillmann, R. 2008. Visual servoing for humanoid grasping and manipulation tasks. In 8th IEEE-RAS International Conference on Humanoid Robots, 2008. Humanoids 2008, 406412.
Weiss, L. & Sanderson, A. 1987. Dynamic sensor-based control of robots with visual feedback. IEEE Journal of Robotics and Automation 3(5), 404417.
Weiss, L., Sanderson, A. & Neuman, C. 1985. Dynamic visual servo control of robots: An adaptive image-based approach. In Proceedings of IEEE International Conference on Robotics and Automation, 2, 662668.
Wilson, W., Williams Hulls, C. & Bell, G. 1996. Relative end-effector control using cartesian position based visual servoing. IEEE Transactions on Robotics and Automation 12(5), 684696.

A sketch drawing humanoid robot using image-based visual servoing

  • Meng-Cheng Lau (a1), John Anderson (a1) and Jacky Baltes (a2)

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed