Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System
Article presents a multisensory robotic system, that is reproducing contour drawings. Initially the system detects a sheet of paper with a reference drawing, determines contours of the drawing, and then draws contour image on a blank sheet of paper. The reproduction conserves features of the original drawing—shapes, location and scale. The system was created with usage of an embodied agent theory. In this article two main parts of a designed system are presented—vision module (virtual receptor) and control subsystem. System is verified on a modified industrial manipulator acting as a service robot with an eye in hand camera and a force/torque sensor mounted in the wrist.