Carnegie Mellon University (CMU) researchers have built a robotic calligraphy drone capable of making complex characters. To achieve this, the drone can simultaneously tracking time-varying contact force and motion trajectories on tangential surfaces.
This system also includes contact-aware trajectory planning to generate dynamic, feasible trajectories and a hybrid motion-force controller to compensate for contact as well as friction forces. These were demonstrated on an aerial calligraphy task using a novel sponge pen design as the end-effector. The ultimate goal is for this drone to complete high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection
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We demonstrate the approach on an aerial calligraphy task using a novel sponge pen design as the end-effector. Additionally, we developed a touchscreen interface for flexible user input. Experiments show our method can effectively draw diverse letters,” said the researchers.
