6 papers · 1 filter
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…
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…
A Kinematic Framework for Screening Candidate 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…
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…