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CCD-BSM:composite-curve-dilation brush stroke model for robotic chinese calligraphy

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Abstract

Brush stroke models play an important role in robotic Chinese calligraphy as the basis of calligraphy stroke generation and are helpful for training models to write robotic Chinese calligraphy. In this study, in contrast to most current stroke models that only consider graphic generation features, we propose a novel stroke model based on composite curve and morphological dilation according to the physical characteristics and writing posture of the brush. In the proposed composite-curve-dilation brush stroke model (CCD-BSM), an oblique section of a cone and two tangent parabolas form a basic graphic, which is dilated with a fixed coefficient according to the extrusion diffusion characteristics of brush hairs. The CCD-BSM can simulate the graphics formed by various specifications of the brush touching the paper with various postures. Moreover, the parameters in CCD-BSM are measurable and controllable without any parameter estimation method or a large number of training samples. Compared with real stroke graphics written by robots, the results of several experiments prove that the proposed CCD-BSM can simulate brushstroke graphics well and show that it outperformed state-of-the-art stroke models. Compared with existing methods, the results demonstrate the advantages of our proposed model in terms of high similarity and especially show the robustness and efficacy of the method with measurable and controllable parameters.

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Acknowledgements

This work is jointly supported by the National Natural Science Foundation of China (Grant No. 62073249) and China Postdoctoral Science Foundation (Grant No. 2020M672426).

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Authors and Affiliations

  1. College of Information Science and Technology, Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, 947 Heping Avenue, Wuhan, 430081, Qingshan District, China

    Dongmei Guo, Liang Ye, Guang Yan & Huasong Min

  2. College of Computer Science and Technology, Anhui University of Science and Technology, 168 Taifung Street, Huainan, 232001, Tian Jiaan District, China

    Dongmei Guo

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Correspondence to Liang Ye or Huasong Min.

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Guo, D., Ye, L., Yan, G. et al. CCD-BSM:composite-curve-dilation brush stroke model for robotic chinese calligraphy. Appl Intell 53, 14269–14283 (2023). https://doi.org/10.1007/s10489-022-04210-y

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