Device and Method for Drawing Lines Using a Humanoid Robot Arm

Humanoid Robot Arm Device for Drawing Lines via Trajectory Coordinate Analysis and Object Differentiation

This technology is an algorithm that extracts contour coordinates from an input image, groups pixels into objects based on proximity, and identifies discontinuities between objects to control the pen-lifting (jumping) motion of a robot arm, enabling the continuous drawing of discontinuous lines or characters.

Existing drawing robots attempt to draw the entire image continuously after simple contour extraction, which leads to an inability to accurately represent discontinuous contours—such as the strokes in Chinese characters—and results in degraded drawing quality at the connection points between strokes.

This technology consists of an analysis unit that calculates reference coordinates for input data and labels adjacent coordinates to generate a trajectory coordinate list; an object differentiation unit that sequentially compares coordinate positions to group non-adjacent coordinates into distinct objects; and a control unit that lifts the robot arm when moving between objects to navigate to the next starting coordinate.

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Key Features:

• An input unit that receives coordinate data for lines to be drawn by the humanoid robot arm from an external source
• An analysis unit that calculates a trajectory coordinate list by analyzing the sequence of coordinates forming the lines based on the line data
• An object differentiation unit that calculates object information by grouping the coordinates of the trajectory coordinate list based on predetermined conditions
• A control unit that calculates starting coordinates based on the trajectory coordinate list and object information, and controls the robot arm to draw the lines

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