Brian Cho

Brian Cho

PhD Student University of Utah Robotics Center

Publications

You can also find my articles on my Google Scholar profile.

Journal Articles

Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network

Brian Y. Cho, Daniel Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, and Alan Kuntz, "Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network." IEEE Robotics and Automation Letters (RA-L 2024).

Uncertainty Aware Forward and Inverse Kinematics for Tendon-Driven Continuum Robots via Mixture Density Networks

Jordan Thompson, Brian Y. Cho, Daniel Brown, and Alan Kuntz, "Uncertainty Aware Forward and Inverse Kinematics for Tendon-Driven Continuum Robots via Mixture Density Networks", under review at Journal of Medical Robotics Research (JMRR 2024).

Obstacle Rearrangement for Robotic Manipulation in clutter using a Deep Q-Network

Sanghun Cheong, Brian Y. Cho, Jinhwi Lee, Jeongho Lee, Donghwan Kim, Changjoo Nam, Changhwan Kim, and Sungkee Park. "Obstacle Rearrangement for Robotic Manipulation in clutter using a Deep Q-Network." Intelligent Service Robotics (2021).

Neural Oscillator based CPG for Various Rhythmic Motions of Modular Snake Robot with Active Joints

S. Manzoor, Y. Cho, and Y. Choi. "Neural Oscillator based CPG for Various Rhythmic Motions of Modular Snake Robot with Active Joints." Journal of Intelligent and Robotic Systems (2019).

Adaptation to Environmental Change using Reinforcement Learning for Robotic Salamander

Y. Cho, S. Manzoor, and Y. Choi. "Adaptation to Environmental Change using Reinforcement Learning for Robotic Salamander." Intelligent Service Robotics (2019).

Conference Papers

Exploring Modal Switch in Metamaterial-based Robots

Britton Jordan, Daniel S. Esser, Jeonghyeon Kim, Brian Y. Cho, Robert J. Webster III, and Alan Kuntz. "Exploring Modal Switch in Metamaterial-based Robots." IEEE International Conference on Intelligent Robots and Systems (IROS 2024).

Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks

Jordan Thompson, Brian Y. Cho, Daniel S. Brown, and Alan Kuntz, "Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks" International Symposium on Medical Robotics (ISMR 2024).

Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery

Brian Y. Cho and Alan Kuntz, "Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery" IEEE International Conference on Robotics and Automation (ICRA 2024).

Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds

Bao Thach, Brian Y. Cho, Alan Kuntz, and Tucker Hermans, "Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds" IEEE International Conference on Robotics and Automation (ICRA 2022).

Planning Sensing Sequences for Subsurface 3D Tumor Mapping

Brian Y. Cho, Tucker Hermans, and Alan Kuntz, "Planning Sensing Sequences for Subsurface 3D Tumor Mapping" International Symposium on Medical Robotics (ISMR 2024).

Fast and Resilient Manipulation Planning for Target Retrieval in Clutter

Changjoo Nam, Jinhwi Lee, Sanghun Cheong, Brian Y. Cho, and Changhwan Kim, "Fast and Resilient Manipulation Planning for Target Retrieval in Clutter (ICRA 2020).

Where to Relocate?: Object Rearrangement inside Cluttered and Confined Environments for Robotic Manipulation

Sanghun Cheong, Brian Y. Cho, Jinhwi Lee, Changhwan Kim, and Changjoo Nam,, "Where to Relocate? Object Rearrangement inside Cluttered and Confined Environments for Robotic Manipulation" IEEE International Conference on Robotics and Automation (ICRA 2020).

Efficient Obstacle Rearrangement for Object Manipulation Tasks in Cluttered Environments

J. Lee, Y. Cho, C. Nam, J. Park, and C. Kim, "Efficient Obstacle Rearrangement for Object Manipulation Tasks in Cluttered Environments" IEEE International Conference on Robotics and Automation (ICRA 2019).