UR 2024
KCGS 2021, π Best Undergrad Paper Award
Abstract
TSP art is an art form for drawing an image using piecewise-continuous line segments. We present TSP-Bot, a robotic pen drawing system capable of creating complicated TSP pen art on a planar surface using multiple colors. The system begins by converting a colored raster image into a set of points that represent the image's tone, which can be controlled by adjusting the point density. Next, the system finds a piecewise-continuous linear path that visits each point exactly once, which is equivalent to solving a Traveling Salesman Problem (TSP). The path is simplified with fewer points using bounded approximation and smoothed and optimized using BΓ©zier spline curves with bounded curvature. Our robotic drawing system consisting of single or dual manipulators with fingered grippers and a mobile platform performs the drawing task by following the resulting complex and sophisticated path composed of thousands of TSP sites. As a result, our system can draw complicated and visually pleasing TSP pen art.
Robotic Setups
Daul Manipulators
![](assets/img/system_setup_ur.gif)
Mobile Manipulator
![](assets/img/system_setup_iiwa.png)
Drawing Results
Dual Manipulators Drawing Results
![](assets/img/results/result_starrynight.png)
![](assets/img/results/result_bigben.png)
Mobile Manipulator Drawing Results
![](assets/img/results/heart_result.png)
![](assets/img/results/flowers_result.png)
![](assets/img/cover_iiwa.png)
![](assets/img/results/hug.jpg)
Drawing Statistics
Starry Night | Big Ben | Heart | Violet | EWU | Character | |
---|---|---|---|---|---|---|
Canvas Size (mm2)
|
315 x 250 | 214 x 300 | 400 x 350 | 850 x 300 | 3600 x 400 | 600 x 400 |
# of Stippled Points
|
81,591 | 76,257 | 21,664 | 95,155 | 154,475 | 31,151 |
Stipping Time (sec.)
|
32 | 34 | 2 | 35 | 32 | - |
TSP Solving Time (sec.)
|
6 | 11 | 4 | 17 | 43 | - |
Drawing Time (min.)
|
124 | 63 | 61 | 585 | 662 | 110 |
Bibtex
UR 2024, "TSP-Bot: Robotic TSP Pen Art using High-DoF Manipulators":
@article{song2022tsp,
title={TSP-Bot: Robotic TSP Pen Art using High-DoF Manipulators},
author={Song, Daeun and Lim, Eunjung and Park, Jiyoon and Jung, Minjung and Kim, Young J.},
journal={arXiv preprint arXiv:2210.07592},
year={2022}
}
Contact
Ewha Computer Graphics Lab
Department of Computer Science & Engineering, Ewha Womans University
π 52, Ewhayeodae-gil, Seodaemun-gu, Seoul, Korea, 03760
π +82-2-3277-6798
βοΈ Daeun Song1, daeunsong@ewhain.net
βοΈ Eunjung Lim1, ejunglim12@ewhain.net
βοΈ Jiyoon Park1, jiyoonpark13@ewhain.net
βοΈ Minjung Jung1, juilejungh63@ewhain.net
βοΈ Young J. Kim1, kimy@ewha.ac.kr
1 Ewha Womans University, Korea