動的筆モデルと擬スペクトル最適制御によるロボット書道
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
書道の筆運びを軌道最適化問題として定式化し、各ストロークの動作軌道をチェビシェフ多項式でパラメータ化することで、美しい文字を従来より効率的に描く手法を提案した。
著者: Sen Wang, Jiaqi Chen, Xuanliang Deng, Seth Hutchinson, Frank Dellaert
分類: cs.RO, cs.CV
原文アブストラクト
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 a Chebyshev polynomial. The proposed dynamic virtual brush model plays a key role in formulating the objective function to be optimized. Our approach shows excellent performance in drawing aesthetically pleasing characters, and does so much more efficiently than previous work, opening up the possibility to achieve real-time closed-loop control.
