Parallel Calligraphy Robot: Framework and System Implementation

Robot calligraphy is a combination of Chinese calligraphy art and modern machine intelligence. Aiming at the problem of insufficient flexibility and accuracy of robot calligraphy, this paper proposes a parallel calligraphy robot framework based on parallel robotics. To evaluate, a prototype parallel calligraphy robot system is built, including an execution subsystem, a software-defined subsystem and an acquisition subsystem. A four-step paradigm including description, prediction, imitation and prescription processes is proposed to perform closed-loop learning for robot calligraphy. Experimental results show that the system can realize accurate expert calligraphy collection, realistic calligraphy simulation and fine calligraphy writing results.