Extraction of Velocity Patterns in Japanese Letters with Writing Brushes for Calligraphy Robot

摘要

Human writes letters with writing brushes (the work of calligraphy is shown in Fig.1). In the writing operation human carries out the following three processes. (i) Human obtains the information of reference letters through eyes. (ii) Human generate the trajectory of letter using the information of letter. (iii) Human writes a letter actually. The purpose of this paper is the realization of these calligraphy processes by the robot system. However it is very difficult to realize these processes by the robot system. Because the work of calligraphy is need to extract the human skills. When the robot system carries out the three processes, it is necessary to consider the following three problems corresponding to the three processes. (I) Image processing including human skill; (II) Path planning including human skill; (III) Control system design. In this paper, we define "static skill" and "dynamic skill". The static skill means human skill that can extract from written letters of the calligraphy work. The dynamic skill means human skill that can't extract from written letters of the calligraphy work. We deal with problems (I) and (II). We explain the extractive methods of the static skill and the dynamic skill.