The robot trajectories for this painting have been calculated by transferring numerically identifed cost functions from a motion capture analysis of a human artist.
The video shows a part of the painting motion for this art work
The linked paper describes the basic mathematical concepts we use to generate painting motions for the robot. Although the painting shown here has been generated by a newer platform, the approach is the same.
Library used for robot modeling
Numerical Software Package used for trajectory calculations
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