Generative confrontation network-based method for writing calligraphy by robot

Abstract

The invention discloses a generative confrontation network-based method for writing calligraphy by a robot and relates to the robot. The method comprises the steps of collecting standard calligraphy stroke data, collating and sorting according to stroke types and making annotations; training two deep neural networks: a generative network G and a confrontation network D, on the basis of a generative confrontation network model; inputting a randomly sampled vector into the generative network G to obtain the probability distribution of track points of strokes; obtaining position information of the strokes from the probability distribution by adopting a sampling method and writing the strokes to a drawing board by a calligraphic robot and shooting and recording images of the strokes by a camera after the writing; and preprocessing the to-be-processed images and inputting into the confrontation network D to train and adjusting parameters to achieve convergence. The generation mechanism hasa good learning ability to enable the calligraphic robot to have a generation mechanism that can automatically generate various styles of strokes, so that the difficulty that a large number of labor power is consumed to manually input, of a current calligraphic robot, is solved.

Description

technical field [0001] The present invention relates to a robot, in particular to a method for writing calligraphy by a robot based on a generative confrontation network of deep learning, generative confrontation network (GAN), kinematics and traditional image processing. Background technique [0002] The application of robotics to promote human culture and civilization, such as robotic writing and drawing, is a major topic often neglected in traditional robotics research. Research on robotic writing focuses on the design of control algorithms to drive robotic end-effectors to write complex characters or letters. Since Chinese character writing must consider the space collocation of character strokes, high-quality writing must find well-shaped strokes in the correct position, so the writing quality of Chinese characters basically depends on the quality of character strokes. Existing high-quality stroke writing requires calligraphy robots to simultaneously control various jo...

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Problems solved by technology

However, this method still requires a lot of human effort t

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