Dynamically optimal trajectories for earthmoving excavators YB Kim, J Ha, H Kang, PY Kim, J Park, FC Park
Automation in Construction 35, 568-578, 2013
106 2013 Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots B Kim, J Ha, FC Park, PE Dupont
2014 IEEE international conference on robotics and automation (ICRA), 5374-5379, 2014
85 2014 Modeling tube clearance and bounding the effect of friction in concentric tube robot kinematics J Ha, G Fagogenis, PE Dupont
IEEE Transactions on Robotics 35 (2), 353-370, 2018
51 2018 Achieving elastic stability of concentric tube robots through optimization of tube precurvature J Ha, FC Park, PE Dupont
2014 IEEE/RSJ international conference on intelligent robots and systems …, 2014
49 2014 Elastic stability of concentric tube robots subject to external loads J Ha, FC Park, PE Dupont
IEEE Transactions on Biomedical Engineering 63 (6), 1116-1128, 2015
44 2015 Optimizing tube precurvature to enhance the elastic stability of concentric tube robots J Ha, FC Park, PE Dupont
IEEE Transactions on Robotics 33 (1), 22-37, 2016
36 2016 A stochastic global optimization algorithm for the two-frame sensor calibration problem J Ha, D Kang, FC Park
IEEE Transactions on Industrial Electronics 63 (4), 2434-2446, 2015
34 2015 Modman: an advanced reconfigurable manipulator system with genderless connector and automatic kinematic modeling algorithm A Yun, D Moon, J Ha, S Kang, W Lee
IEEE Robotics and Automation Letters 5 (3), 4225-4232, 2020
31 2020 Steering a multi-armed robotic sheath using eccentric precurved tubes J Wang, J Ha, PE Dupont
2019 international conference on robotics and automation (ICRA), 9834-9840, 2019
19 2019 Designing stable concentric tube robots using piecewise straight tubes J Ha, PE Dupont
IEEE robotics and automation letters 2 (1), 298-304, 2016
16 2016 Incorporating tube-to-tube clearances in the kinematics of concentric tube robots J Ha, PE Dupont
2017 IEEE International Conference on Robotics and Automation (ICRA), 6730-6736, 2017
13 2017 Pediatric airway stent designed to facilitate mucus transport and atraumatic removal J Ha, A Mondal, Z Zhao, AK Kaza, PE Dupont
IEEE Transactions on Biomedical Engineering 67 (1), 177-184, 2019
12 2019 Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model C Jang, J Ha, PE Dupont, FC Park
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
10 2016 Preclinical evaluation of a pediatric airway stent for tracheobronchomalacia A Mondal, J Ha, VY Jo, FY Wu, AK Kaza, PE Dupont
The Journal of thoracic and cardiovascular surgery 161 (1), e51-e60, 2021
9 2021 A soft robotic balloon endoscope for airway procedures Y Li, J Peine, M Mencattelli, J Wang, J Ha, PE Dupont
Soft Robotics 9 (5), 1014-1029, 2022
8 2022 Augmented reality assisted surgical navigation system for epidural needle intervention S Lim, J Ha, S Yoon, YT Sohn, J Seo, JC Koh, D Lee
2021 43rd Annual International Conference of the IEEE Engineering in …, 2021
7 2021 Effect of path history on concentric tube robot model calibration J Ha, G Fagogenis, PE Dupont
The Hamlyn Symposium on Medical Robotics, 77, 2017
7 2017 Probabilistic Framework for Hand–Eye and Robot–World Calibration J Ha
IEEE Transactions on Robotics 39 (2), 1196-1211, 2022
5 2022 Fast replanning multi-heuristic A J Ha, S Kim
2021 IEEE International Conference on Robotics and Automation (ICRA), 7430-7435, 2021
5 2021 Reinforcement Learning Heuristic A J Ha, B An, S Kim
IEEE Transactions on Industrial Informatics 19 (3), 2307-2316, 2022
4 2022