Towards the development of the capability of drawing portraits with the humanoid robot DarwinOP

This paper presents the development of an application that enables a small commercial humanoid robot, the DarwinOP, to draw the face of a person. The corresponding project is realized in three phases: the artificial vision system, the direct and inverse kinematics and the control system. In this paper it is presented: i)The design and the implementation of the vision system algorithms, and the obtained results that generate a group of lines that represent the portrait to draw; ii)The development of the direct and inverse kinematics of the robotic arm of the humanoid DarwinOP which has been modified adding a joint: flexion-extension of the wrist; and iii)The design of the workstation and the results obtained previously to the final implementation in the internal computer of the DarwinOP.