Image-Driven Robot Drawing with Rapid Lognormal Movements
Tools
Tools
Berio, Daniel; Clivaz, Guillaume; Stroh, Michael; Deussen, Oliver; Plamondon, Rejean; Calinon, Sylvain and Leymarie, Frederic Fol. 2025. 'Image-Driven Robot Drawing with Rapid Lognormal Movements'. In: 34th IEEE International Conference on Robot and Human Interactive Communication. Eindhoven, Netherlands 25-29 August 2025. [Conference or Workshop Item]
|
Text
Berio-ROMAN2025.pdf - Accepted Version Download (1MB) | Preview |
Abstract or Description
Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic physicality of the human drawing/writing act, which is usually executed with skillful hand/arm gestures. Taking this into account is important for the visual aesthetics of the results and for the development of closer and more intuitive artist-robot collaboration scenarios. We present a method that bridges this gap by enabling gradient-based optimization of natural human-like motions guided by cost functions defined in image space. To this end, we use the sigma-lognormal model of human hand/arm movements, with an adaptation that enables its use in conjunction with a differentiable vector graphics (DiffVG) renderer. We demonstrate how this pipeline can be used to generate feasible trajectories for a robot by combining image-driven objectives with a minimum-time smoothing criterion. We demonstrate applications with generation and robotic reproduction of synthetic graffiti as well as image abstraction.
|
Item Type: |
Conference or Workshop Item (Paper) |
||||||
| Additional Information: |
“© 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” |
||||||
| Keywords: |
Robots in art and entertainment |
||||||
| Related URLs: |
|
||||||
| Departments, Centres and Research Units: |
|||||||
| Dates: |
|
||||||
| Event Location: |
Eindhoven, Netherlands |
||||||
| Date range: |
25-29 August 2025 |
||||||
| Item ID: |
39491 |
||||||
| Date Deposited: |
05 Sep 2025 09:20 |
||||||
| Last Modified: |
05 Sep 2025 09:24 |
||||||
|
URI: |
View statistics for this item...
 |
Edit Record (login required) |