As mentioned above, in this paper we compare two styles to represent a target image: predefined stroxels and dynamically generated longer strokes. After we introduced the two styles in the previous section we now describe their practical realization to produce robot paintings. The two styles can be implemented as a general drawing algorithm shown in Algorithm 1. The algorithms have some steps in common and only differ in the generation of the strokes in line 5 of the algorithm. Both have different representational abilities and are well suited for different objects. We will discuss this in the next section.