3 papers
cs.RO2024
Generative Adversarial Networks for Solving Hand-Eye Calibration without Data Correspondence
Ilkwon Hong, Junhyoung Ha
In this study, we rediscovered the framework of generative adversarial networks (GANs) as a solver for calibration problems without data correspondence. When data correspondence is…
cs.RO2023
Obstacle- and Occlusion-Responsive Visual Tracking Control for Redundant Manipulators using Reachability Measure
Mincheul Kang, Junhyoung Ha
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined f…
cs.RO2023
Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature
Zhouyu Zhang, Jia Shen, Junhyoung Ha +1
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario…