6 papers
A study on a Real-Time VR-Based Teleoperation Framework for Manipulator in Dynamic Environment
InGyu Choi, GeonYeong Go, SunWoo Ahn +2
Robot teleoperation enables safe, non-contact task execution in hazardous environments where direct human access is difficult, and its application has expanded with recent VR techn…
A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study
HyoJae Kang, Yeong Jae Park, Jeongdo Ahn +1
This paper presents a quadratic unconstrained binary optimization-based formulation framework for robot design optimization using kinematic structure-level evaluation metrics. In t…
A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands
HyoJae Kang, Yeong Jae Park, Hyunmok Jung +2
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thu…
A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models
HyoJae Kang, Joonho Lee, Hyunmok Jung +1
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry o…
Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity
HyoJae Kang, Joonho Lee, Jeongdo Ahn +1
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or man…
Crane Lowering Guidance Using a Attachable Camera Module for Driver Vision Support
HyoJae Kang, SunWoo Ahn, InGyu Choi +3
Cranes have long been essential equipment for lifting and placing heavy loads in construction projects. This study focuses on the lowering phase of crane operation, the stage in wh…