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

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