In this paper, we present an overview on the history of drawing robots. Starting with the drawing automata by Jaquet-Droz and Maillardet, we show the evolution of drawing machines in the XIX and XX centuries. Then, we examine the first painting machines, which appeared in the 1950s, as well as the first robotic drawing prototypes, which become increasingly autonomous and creative with the advent of cybernetics and computer graphics. Furthermore, we depict drawing and painting robots of the XXI century with enhanced manipulation, control, and computing capabilities. Finally, recent trends and future developments in this field are discussed, such as the introduction of collaborative robotics and artificial intelligence.
