Abstract
In this paper, robot calligraphy systems is developed to write Chinese brush characters dynamically. The BBOD algorithm of stroke extraction is optimized by adding a rule for merging stroke. the results show that the accuracy of stroke extraction is 95% for the Simple-style font, 92% for Kai-style font and 90% for Yan-style font. A model of calligraphy features is established, which includes not only the spatial structure features of Chinese characters, but also the dynamic writing features of Chinese characters. In the period of trajectory planning, a rule of Chinese brush characters applies to optimize the trajectory of stroke, and there are two steps of motion planning, cubic B-spline algorithm is used to plan the Cartesian path, then S curve algorithm is used to plan the joint space trajectory, in order to control manipulator smoothly and stably. To verify the proposed method, three types of experiments are conducted and the developed systems achieved good results in Chinese brush calligraphy reproducing.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Mueller, S., Huebel, N., Waibel, M., et al.: Robotic calligraphy—learning how to write single strokes of Chinese and Japanese characters. In: 2013 International Conference on Intelligent Robots and Systems (IROS), pp. 1734–1739. Institute of Electrical and Electronics Engineers Inc., Tokyo, Japan (2013)
Liu, K., Huang, Y.S., Suen, C.Y.: Robust stroke segmentation method for handwritten Chinese character recognition. In: Proceedings of the Fourth International Conference on Document Analysis and Recognition, pp. 211–215. IEEE, Los Alamitos, CA, United States, Ulm, Ger (1997)
Cao, R., Tan, C.L.: A model of stroke extraction from Chinese character images. In: Proceedings 15th International Conference on Pattern Recognition, IEEE, pp. 4: 368–371. Institute of Electrical and Electronics Engineers Inc., Barcelona, Spain (2000)
Xu, S., Lau, F.C.M., Cheung, W.K., et al.: Automatic generation of artistic Chinese calligraphy. IEEE Intell. Syst. 20(3), 32–39 (2005)
Lyu, P., Bai, X., Yao, C., et al.: Auto-encoder guided GAN for Chinese calligraphy synthesis. In: 14th IAPR International Conference on Document Analysis and Recognition (ICDAR), pp. 1095–1100. IEEE Computer Society, Kyoto, Japan (2017)
Lo, K.W., Kwok, K.W., Wong, S.M., et al.: Brush footprint acquisition and preliminary analysis for Chinese calligraphy using a robot drawing platform. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5183–5188. Institute of Electrical and Electronics Engineers Inc., United States, Beijing, China (2006)
Li, J., Sun, W., Zhou, M.C., et al.: Teaching a calligraphy robot via a touch screen. In: 2014 IEEE International Conference on Automation Science and Engineering (CASE), pp. 221–226. IEEE Computer Society, Taipei, Taiwan (2014)
Zhang, T.Y., Suen, C.Y.: A fast parallel algorithm for thinning digital patterns. Commun. ACM 27(3), 236–239 (1984)
Zhu, P., Chirlian, P.M.: On critical point detection of digital shapes. IEEE Trans. Pattern Anal. Mach. Intell. 17(8), 737–748 (1995)
Yang, L., Li, X.: Animating the brush-writing process of Chinese calligraphy characters. In: Eighth IEEE/ACIS International Conference on Computer & Information Science. IEEE, pp. 683–688. IEEE Computer Society, Shanghai, China (2009)
Shi, F.Z.: Computer-Aided Geometric Design and Non-uniform Rational B-Spline. Higher Education Press, Beijing (2001)
Perumaal, S., et al.: Synchronized trigonometric S-curve trajectory for jerk-bounded time-optimal pick and place operation. Int. J. Robot. Autom. 27(4), 385 (2012)
Acknowledgements
This work is supported by National Key R&D Program of China (Project No. 2017YFB1300400), National Natural Science Foundation of China (Project No. 61673304) and Wuhan Science and Technology Planning Project (Project No.: 2018010401011275).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Li, J., Min, H., Zhou, H., Xu, H. (2019). Robot Brush-Writing System of Chinese Calligraphy Characters. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_8
Download citation
DOI: https://doi.org/10.1007/978-3-030-27529-7_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27528-0
Online ISBN: 978-3-030-27529-7
eBook Packages: Computer ScienceComputer Science (R0)