This paper proposes a robot calligraphy writing method based on style transfer algorithm, which can transfer the art style of Chinese font and maintain the imitation accuracy of the calligraphy. A prototypical similarity evaluation approach is also presented to analyze the calligraphy writing effect, including the similarity ratio of balance, inclination and writing intensity. The robot writing system mainly consists of a six-DOF robot, manipulator, Chinese brush and PC controller. Firstly, input character images are transformed into target style font through training and style transferring process based on generative adversarial networks method. Then, the description parameters of the character images with target style are extracted to control the robot calligraphy writing process precisely. Experimental results show that the minimum similarity between the styles of robot writing characters and target characters is larger than 0.75. The proposed method shows good calligraphy writing effect, which can be used for various calligraphy training processes and trajectory planning applications.

中文翻译：

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基于风格转移算法和相似度评估的机器人书法书写方法

提出了一种基于样式传递算法的机器人书法书写方法，该方法可以传递中文字体的艺术风格，并保持书法的模仿精度。提出了一种原型相似度评估方法来分析书法的书写效果，包括平衡度，倾斜度和书写强度的相似度。机器人书写系统主要由六自由度机器人，机械手，中文画笔和PC控制器组成。首先，通过基于生成对抗网络方法的训练和样式转换过程，将输入的字符图像转换为目标样式字体。然后，提取具有目标风格的字符图像的描述参数，以精确控制机器人书法的书写过程。实验结果表明，机器人书写字符风格与目标字符风格之间的最小相似度大于0.75。所提出的方法显示出良好的书法写作效果，可用于各种书法训练过程和轨迹规划应用。