Busker robot: A robotic painting system for rendering images into watercolour artworks

In this paper we present Busker Robot, an innovative robotic painting system for rendering digital images into watercolour artworks. The installation is composed of a 6-degrees of freedom collaborative robot and a series of image processing and path planning algorithms. These non-photorealistic techniques elaborate a digital image into a sequence of trajectories that the robot reproduces on paper. Our painting machine is the first robotic system that uses watercolour technique for artistic rendering. The resulting artworks have been considered of interest by the public and the press in recent international fairs and exhibitions.