This paper presents our sketch drawing artist humanoid robot research. One of the limitations of the existing artist humanoid robot is the lack of feedback on the error that occurs during the drawing process. The contribution of this research is the development of a humanoid robot artist with drawing error correction capability. Based on our previous work with open-loop control pen-and-ink humanoid robot artist, we have implemented a closed-loop visual servoing approach to address this problem. Our experimental results show that this approach is sufficient to correct drawing errors that occur due to mechanical limitation of a robot.

中文翻译：

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基于图像的视觉伺服素描人形机器人

本文介绍了我们的素描艺术家人形机器人研究。现有艺术家人形机器人的局限性之一是缺乏对绘图过程中出现的错误的反馈。这项研究的贡献是开发了具有绘图纠错能力的人形机器人艺术家。基于我们之前与开环控制笔墨仿人机器人艺术家的合作，我们实施了一种闭环视觉伺服方法来解决这个问题。我们的实验结果表明，这种方法足以纠正由于机器人的机械限制而出现的绘图错误。