On Sensor Management of Calligraphic Robot

Abstract

Development of calligraphic robot is motivated by allowing humanoid robot and home service robot to mimic the writing skills of human beings. Similar to human beings, versatile sensors are involved in writing procedure of robot to percept stages of task fulfillment and status of writing-brush. It is well known that the structures of Chinese characters are very complex and delicate. The writing-brush is soft and can draw strokes of different and variable widths, which makes Chinese calligraphy a sort of art like painting. Since the relations of strokes of Chinese characters are complicated and the writing-brush is extremely intricate to handle that it might result in inconsistent strokes with even slight changes in environment, dynamic management of sensors is hence a critical issue for a successful writing of an elegant Chinese character. This paper presents a sensor management method based on fuzzy decision tree (FDT), with which necessary prerequisite knowledge of Chinese character writing can be integrated into control of calligraphic robot system. Properties of sensor management problem in calligraphic robot are analyzed. Implementation of the proposed method is discussed. Experiments evaluate the feasibility and advantages of the proposed method.