Autonomous Robot Painting

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Have a look also at the product page

1 Introduction

Since the Elisa-3 robot is able to move vertically we got the idea to put the Elisa-3 inside a picture frame and let it perform various animations. The video shows only a set of possible behaviors that exploit the sensors and actuators of the robot, but many others behaviors can be implemented; here are some technical information:

  • the robot is aware precisely of its vertical orientation thanks to its accelerometer
  • the robot has a rough estimation of its current position inside the picture frame
  • the behaviors can be controlled through a TV remote (RC5 protocol)
  • the robot can easily distinguish between a dark and bright surface
  • the robot is equipped with 8 proximity sensors all around it that can be used to avoid obstacles or to interact with peoples
  • the red, green and blue channels of the RGB LED are controllable independently

Moreover we designed also a charging station to let the frame be animated continuously by the Elisa-3 robot.


There are many available behaviors for the robot that can be chosen using the related button on the tv remote (put the selector in position 15); in sequence:

  1. go around and avoid obstacles
  2. spiral motion with obstacles avoidance (automatic calibration)
  3. motion following vertical and horizontal virtual lines
  4. wall following
  5. motion following diagonal virtual lines
  6. billiards motion
  7. go around avoiding obstacles and do random pivot rotations
  8. go around avoiding obstacles and continuously change rotation softly
  9. stopped
  10. go around avoiding obstacles and do random motions (from a predefined set) at fixed intervals
  11. follow a virtual "8 shape" (automatic calibration)
  12. bounce on the wall
  13. follow finger
  14. stop a little on the black spots
  15. go to charger

Moreover it is possible to change the robot speed (the maximum speed isn't the same for all the behaviors).

It is also possible to change the color mode independently from the current robot behavior, the available color modes are:

  1. random color
  2. random color from a predefined set of basic colors (red, green, blue, yellow, cyan, magenta, white)
  3. change color softly in a random way
  4. random intensity for the red (others channels turned off)
  5. random intensity for the green (others channels turned off)
  6. random intensity for the blue (others channels turned off)
  7. pulse effect for the red (others channels turned off)
  8. pulse effect for the green (others channels turned off)
  9. pulse effect for the blue (others channels turned off)

Moreover it is possible to select the maximum intensity for all of the the color modes.

2 Software

There is an automatic mode (put selector in position 14) in which some of the behaviors are executed sequentially from the ones available; the sequence is:

  1. go around and avoid obstacles
  2. wall following
  3. motion following diagonal virtual lines
  4. go around avoiding obstacles and do random pivot rotations
  5. billiards motion
  6. go around avoiding obstacles and do random motions (from a predefined set) at fixed intervals
  7. bounce on the wall
  8. go to charger

3 Video

These videos show robotics and art mixed together.


4 Pictures