Notes about tagging

January 17, 2010 permalink

The GML Robotagger: Automated Calligraphy

GML (Graffiti Markup Language) drawings from are converted into DXF via a small Processing utility. Motion paths for a robot arm are developed from these DXF files using Rhino and MasterCam. The ABB IRB-4400 series arm is wielding a 2″ Montana Hardcore marker. Developed 11 January 2010 by Golan Levin and Jeremy Ficca in the CMU Digital Fabrication Laboratory (dFAB).

Concept: Evan Roth, F.A.T. Lab
Programming & Production: Golan Levin
Machining & Motion Planning: Jeremy Ficca

Co-produced by the CMU STUDIO for Creative Inquiry and the CMU Digital Fabrication Laboratory, in cooperation with FAT Lab and For more information please see

The GML RoboTagger. Automated calligraphy via the Graffiti Markup Language and an industrial robot arm gripping a giant Sharpie or Montana Hardcore magic marker. Tele-tag.

There’s a bit more about the project on Golan Levin’s blog.