基于毛笔建模的机器人书法系统  

Robot calligraphy system based on brush modeling

作　　者：王玉卓 闵华松[1] WANG Yuzhuo;MIN Huasong(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学信息科学与工程学院,湖北武汉430081

出　　处：《智能系统学报》2021年第4期707-716,共10页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(61673304);国家重点研发计划项目(2017YFB1300400);湖北省科技创新专项重大项目(2019AAA071);武汉市应用基础前沿项目(2018010401011275).

摘　　要：针对机器人书法系统存在仅考虑毛笔笔直状态下机器人书写的问题,提出了一种新的机器人书法系统,可使机器人能够在倾斜状态下书写汉字。该系统首先分析毛笔足迹,建立一种适合用于机器人毛笔书写的基于线性回归算法的笔触模型;然后使用遗传算法从笔画图像获得轨迹信息,加入了起笔、行笔、收笔规则,生成虚拟笔画图像;最后采用B样条算法实现机器人路径规划,坐标变换完成姿态计算,从而进行实际书写。机器人书法系统提取了3种笔画特征作为评价指标,实验结果表明:机器人毛笔书法系统可以得到较好的书写效果。A novel robot calligraphy system is proposed to enable robots to write Chinese characters by using a brush in a slanted position,with the purpose of solving the problem of the existing robot calligraphy system taking only the straight state of the brush into consideration.First,writing marks are analyzed in this proposed system,and an appropriate stroke model is established based on the linear regression algorithm.Then,the trajectory information is obtained from the stroke image by using genetic algorithms,which are added with the rules of starting,running,and closing for virtual stroke images.Lastly,path planning for robots is realized by using a B-spline algorithm,and posture calculation is fulfilled through coordinate transformation,thereby achieving actual writing.In the experiments,three stroke characteristics are extracted as evaluation indicators.Experimental results show that the robot brush calligraphy system can achieve a better writing effect.

关 键 词：机器人书法 毛笔建模 遗传算法 书写规则 路径规划 位姿变化 书法评价 笔画特征 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]