Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model [article]

Sen Wang, Jiaqi Chen, Xuanliang Deng, Seth Hutchinson, Frank Dellaert
2020 arXiv   pre-print
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process. Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as a Chebyshev polynomial. The proposed dynamic virtual brush model plays a key role in formulating
more » ... e objective function to be optimized. Our approach shows excellent performance in drawing aesthetically pleasing characters, and does so much more efficiently than previous work, opening up the possibility to achieve real-time closed-loop control.
arXiv:2003.01565v3 fatcat:tm26ooy7prdinkl4a4edpwz6mm