Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular engages the public in a way that small-scale works cannot, and the distinct qualities of brush strokes contribute to an organic and human-like quality. Combining the large scale of murals with the strokes of the brush medium presents an especially impactful result, but also introduces unique challenges in maintaining precise, dextrous motion control of the brush across such a large workspace. In this work, we present the first robot to our knowledge that can paint architectural-scale murals with a brush. We create a hybrid robot consisting of a cable-driven parallel robot and 4 degree of freedom (DoF) serial manipulator to paint a 27m by 3.7m mural on windows spanning 2-stories of a building. We discuss our approach to achieving both the scale and accuracy required for brush-painting a mural through a combination of novel mechanical design elements, coordinated planning and control, and on-site calibration algorithms with experimental validations.

翻译：机器人艺术通过创作艺术这一挑战性任务，既展示了机器人技术的最高水平，也推动了其发展。大型艺术作品的创作尤其能引发公众共鸣，这是小型作品难以企及的，而笔刷笔触的独特质感则赋予了作品有机而富有生命力的特质。将壁画的大规模特性与笔刷媒介的笔触效果相结合，能够产生极具冲击力的艺术成果，但同时也带来了在如此庞大的工作空间内维持笔刷精准灵巧运动控制的独特挑战。在本研究中，我们提出了据我们所知首台能够以笔刷绘制建筑规模壁画的机器人。我们构建了一款由线缆驱动机器人和4自由度串联机械臂组成的混合机器人，成功在一栋建筑两层窗户上绘制了27米×3.7米的壁画。我们阐述了通过创新机械设计、协同规划控制及现场标定算法（含实验验证）相结合，实现壁画笔刷绘制所需规模与精度的技术路径。