Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Sen Wang,Jiaqi Chen,Xuanliang Deng,Seth Hutchinson,Frank Dellaert,Sen Wang,Jiaqi Chen,Xuanliang Deng,Seth Hutchinson,Frank Dellaert
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process. Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as...
