Daehie Hong — accepted AI-conference papers

2025

Acceleration Measurement-Free Dissipative Disturbance Observer for Robotic Manipulators

Seonwoo Kim, Chanwoo Kim, Yeonho Ko, Daehie Hong

RA-L 2025

In this letter, we propose an Acceleration Measurement-Free Dissipative Disturbance Observer (AFDDO) for robotic manipulators, designed to estimate external disturbances robustly without requiring angular acceleration measurements and matrix inversion. By leveraging dissipativity theory, the AFDDO a

Cited by 1 Source ↗Scholar ↗

2025

Adaptive Hybrid Control for Backlash-Like Hysteresis and Marker-Based Pose Estimation in Endoscopic Robots

Junho Hong, Daehie Hong, Chanwoo Kim, SeongHyun Won

RA-L 2025

Nonlinear backlash-like hysteresis in tendon-sheath mechanism based endoscopic surgical robots introduces significant motion errors, limiting precision in surgical tasks. Existing methods struggle to compensate for these errors in real time, particularly without relying on distal-end sensors. To add

Cited by 0 Source ↗Scholar ↗