Ga-Ram Jang — accepted AI-conference papers

2022

Peg-in-Hole Assembly With Dual-Arm Robot and Dexterous Robot Hands

Dong-Hyuk Lee, Myoung-Su Choi, Hyeonjun Park, Ga-Ram Jang, Jae-Han Park, Ji-Hun Bae

RA-L 2022

This study focuses on implementing robotic peg-in-hole in a more human-like approach, namely using dual-arms and dexterous robotic hands. The peg-in-hole strategy in this study mainly consists of two parts: grasping strategy (hand part) and assembly strategy (arm part). The grasping strategy explain

Cited by 51 Source ↗Scholar ↗

2021

Kinesthetic Sensing for Peg-In-Hole Assembly Based on In-Hand Manipulation

Myoung-Su Choi, Yong-Woo Shin, Ga-Ram Jang, Dong-Hyuk Lee, Jae-Han Park, Ji-Hun Bae

RA-L 2021

This study proposes a new way of estimating the hole direction to reduce the search time deviation in peg-in-hole assembly. To perform a peg-in-hole assembly, the hole position has to be found. In our previous studies, we found the hole using a blind search method. The blind search method moves the

Cited by 8 Source ↗Scholar ↗