Application of brush footprint geometric model for realization of robotic Chinese calligraphy

This paper applies a previously developed geometric model of brush footprint to robotic Chinese calligraphy. With this model, robot is augmented with the ability to perceive and cognize the brush footprint profile generated in a brush motion. The model approximates the outline of the brush footprints via the coordinates of 8 vertex points. Each coordinate is represented as 2 polynomial functions of the applied pressure and brush vertical inclination. Relevant coefficients are determined using experimentally acquired footprint data. The model can then be integrated with a search algorithm to generate the needed trajectories for robot execution of given Chinese calligraphy. This paper applies the model and approach to two new examples and demonstrates the versatility of the methodology in replicating Chinese calligraphic works.