In this paper, we present non-photorealistic rendering techniques that are applied together with a painting robot to realize artworks with original styles. Our robotic painting system is called Busker Robot and it has been considered of interest in recent art fairs and international exhibitions. It consists of a six degree-of-freedom collaborative robot and a series of image processing and path planning algorithms. In particular, here, two different rendering techniques are presented and a description of the experimental set-up is carried out. Finally, the experimental results are discussed by analyzing the elements that can account for the aesthetic appreciation of the artworks.
