Learning dynamic graffiti strokes with a compliant robot

Berio, Daniel; Calinon, Sylvain and Leymarie, Frederic Fol. 2016. 'Learning dynamic graffiti strokes with a compliant robot'. In: IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS). Daejeon, Korea, Republic of 9-14 October 2016. [Conference or Workshop Item]

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Abstract or Description

We present an approach to generate rapid and fluid drawing movements on a compliant Baxter robot, by taking advantage of the kinematic redundancy and torque control capabilities of the robot. We concentrate on the task of reproducing graffiti-stylised letter-forms with a marker. For this purpose, we exploit a compact lognormal-stroke based representation of movement to generate natural drawing trajectories. An Expectation-Maximisation (EM) algorithm is used to iteratively improve tracking performance with low gain feedback control. The resulting system captures the aesthetic and dynamic features of the style under investigation and permits its reproduction with a compliant controller that is safe for users surrounding the robot.

Item Type:

Conference or Workshop Item (Paper)

Identification Number (DOI):


Additional Information:

IROS is one of the main international annual robotics conferences.


Trajectory, Manipulators, Jacobian matrices, Writing, Tracking, Art

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1 July 2016Accepted
1 December 2016Published

Event Location:

Daejeon, Korea, Republic of

Date range:

9-14 October 2016

Item ID:


Date Deposited:

02 Sep 2016 13:29

Last Modified:

16 Oct 2020 14:18



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