We started with the single-line drawing technique: one continuous curve per composition. This established the fundamentals—smooth velocity profiles, corner rounding to avoid sudden stops, and consistent standoff to achieve evenly loaded strokes. The focus here was reliability: proving that a single, uninterrupted path could be executed at steady speed without drips, snags, or visible seams. 

Next, we expanded to Kolam patterns—intricate motifs traditionally drawn as continuous loops—and mapped them onto non-planar surfaces. This required reparametrizing the curves to the target geometry and maintaining a constant brush contact along varying normal. We introduced gentle tool-normal blending through corners to keep paint deposition even while the arm traversed changing curvature, preserving the legibility of Kolam loops in relief. 

Finally, we moved beyond continuity to paintings composed of multiple discrete strokes. Here the challenge was drip control at stroke starts/ends and during reorientations. We added variable motion profiles (faster lifts, shorter approaches), minimized dwell at corners, and sequenced strokes to manage brush load. In parallel, we explored tilted brush angles to steer the footprint and achieved varied line weights by coupling tool tilt with speed and contact pressure. This trial demonstrated fine-grained control over stroke character—directionality, taper, and thickness—while keeping the robot’s movements fluid enough to avoid paint buildup.