GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
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DOI：
10.1109/icra46639.2022.9812008
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发表时间：
2021-09
期刊：
影响因子：
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通讯作者：
Gerry Chen;Sereym Baek;J. Flórez;Wanli Qian;Sang-won Leigh;S. Hutchinson;F. Dellaert
中科院分区：
文献类型：
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作者：
Gerry Chen;Sereym Baek;J. Flórez;Wanli Qian;Sang-won Leigh;S. Hutchinson;F. Dellaert
我们提出GTGraffic，涂鸦绘画系统从格鲁吉亚技术，解决艺术，硬件和人机协作的挑战。以人类风格绘制涂鸦的问题特别具有挑战性，需要系统级的方法，因为机器人和艺术必须围绕彼此进行设计。机器人必须在一个大的工作空间高度动态，而艺术家必须在机器人的限制。我们的方法包括三个阶段：艺术品捕获，机器人硬件和规划与控制。我们使用运动捕捉捕捉到合作者绘画运动，然后组成和处理成一个时变线性反馈控制器的电缆驱动的并联机器人（CDPR）执行。在这项工作中，我们将描述捕捉过程，设计和建造一个专门的CDPR，和软件把艺术家的视觉控制命令。我们的工作代表了忠实地再现人类涂鸦艺术品的重要一步，证明我们可以在9.3mm RMSE内再现艺术家高达2 m/s和20 m/s2的运动来绘制艺术品。
We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a human style is particularly challenging and requires a system-level approach because the robotics and art must be designed around each other. The robot must be highly dynamic over a large workspace while the artist must work within the robot's limitations. Our approach consists of three stages: artwork capture, robot hardware, and planning & control. We use motion capture to capture collaborator painting motions which are then composed and processed into a time-varying linear feedback controller for a cable-driven parallel robot (CDPR) to execute. In this work, we will describe the capturing process, the design and construction of a purpose-built CDPR, and the software for turning an artist's vision into control commands. Our work represents an important step towards faithfully recreating human graffiti artwork by demonstrating that we can reproduce artist motions up to 2m/s and 20m/s2 within 9.3mm RMSE to paint artworks.