1. Introduction
In this paper, we present our painting machine, eDavid, which was built two years ago for creating artistic depiction with visual feedback. Using eDavid, we can obtain a wide variety of painting styles. In this paper, we compare and evaluate two of these styles based on their aesthetic properties.
eDavid is a one-arm industry robot that we modified and equipped for painting purposes (see [1] and Fig. 1). A camera observes the canvas, their images are compared with a given target function (usually an image, but could be a more complex representation such as a 3-d scene). New strokes are generated until the target function is sufficiently approximated by the paint on the canvas. Our rationale of building an industrial robot instead of using a pen plotter comes from the fact that with an industrial robot we are not restricted to use only one type of physical instrument to create paintings. Our current implementation of eDavid can successfully use any brush or pencil. It can paint with a number of physical colors ranging from ink to oil paint.