Young-Ho Kim — accepted AI-conference papers

2021

Non-Linear Hysteresis Compensation of a Tendon-Sheath-Driven Robotic Manipulator Using Motor Current

Dong-Ho Lee, Young-Ho Kim, Jarrod Collins, Ankur Kapoor, Dong-Soo Kwon, Tommaso Mansi

RA-L 2021

Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial TSM-based medical devices have non-linear phenomena resulting fro

Cited by 38 Source ↗Scholar ↗

2017

Using a Compliant, Unactuated Tail to Manipulate Objects

Young-Ho Kim, Dylan A. Shell

RA-L 2017

We demonstrate manipulation of objects using the dynamics of a rope-like structure attached to a mobile robot as a passive tail. Three challenges arise in modeling and planning: the physics involved is nontrivial, the tail is underactuated, and motions of the object are nondeterministic. For such sy

Cited by 11 Source ↗Scholar ↗