Olin students used a robotic arm to draw an image of a human subject using a standard Sharpie™ pen. To begin, the robot captures an image and applies filters to decompose the image into multiple regions of interest based on facial features. These features are then analyzed into simpler geometries and contours. Next, it converts the filtered image into a series of paths that the robot arm can follow to create the drawing. These paths are then converted into actuation commands which are sent to the arm. The final image is a caricature of the human subject.