Robot-Drawing-using-Visual-Servoing

CMPUT 615 Course Project: A Robotic Photocopy Machine (RPM), University of Alberta

Overview

• Human shows the robot a picture, our system can control the robot replicate the same pic in an unrealistic drawing style.
• chris_tracker:
  • parsing a photo to lines and ellipse.
  • generating strokes and motion plans.
  • subscribing to ar_track_alvar and continously output the error vector.
• wam_ibvs_visp:
  • receiving strokes and motion plans.
  • controlling using visual servoing, ViSP.
  • Camera configuration: eye-to-hand.

System Overview

ROS-Graph

Results

More results (video clips) can be found in http://home.jinchris.com/RobotDrawing.html

Video example:

https://drive.google.com/file/d/0B9P2CU_oU7BjY0ZUNUdMbnhMY1U/view

Drawing a rectangle

Self-portrait

Reference

J. Jin, "A Robotic Photocopy Machine (RPM)", https://github.com/atlas-jj/Robot-Drawing-using-Visual-Servoing/blob/master/media/CMPUT_615_Lab_Project_Report_final.pdf