Berio, D., Clivaz, G., Stroh, M., Deussen, O., Plamondon, R., Calinon, S. and Leymarie, F.F. (2025)
Image-driven robot drawing with rapid lognormal movements
In Proc. IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man).
Abstract
The democratization of cobots makes them accessible for physically producing paintings and drawings in collaboration with artists. At the same time, large deep-learning models are becoming increasingly common tools for a variety of complex image generation tasks. We present a method that combines these two advancements 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.
Bibtex reference
@inproceedings{Berio25ROMAN,
author={Berio, D. and Clivaz, G. and Stroh, M. and Deussen, O. and Plamondon, R. and Calinon, S. and Leymarie, F. F.},
title={Image-driven robot drawing with rapid lognormal movements},
booktitle={Proc.\ {IEEE} Intl Symp.\ on Robot and Human Interactive Communication ({Ro-Man})},
year={2025}
}