Japanese Calligraphy Using Whole Body Motion of a Humanoid Robot

In this research, a system for writing Japanese calligraphy using the whole body motion of a humanoid robot has been developed. It consists of an instruction system using a virtual haptic interface and a humanoid robot with a brush on its right hand. The trajectory of human handwriting is given by the instruction system. The humanoid robot can write characters larger than its own size with a walking motion. The experimental results using a humanoid robot Hoap-2 are presented.