Tolga-Can Çallar's Projects
Neural Network based external force estimation on dVRK
Automatic calibration algorithm to determine the kinematic model of any serial manipulator. A method based on circle fitting and dual vector geometry is included to determine the Classic Denavit-Hartenberg parameters for a serial manipulator. It requires a CSV file for each actuated joint. This file should contain the acquired end-effector positions of the robot as each joint is separately moved.
Monte-Carlo Ray-Tracing for Interactive Ultrasound Simulation
Python package for point cloud registration using probabilistic model (Coherent Point Drift, GMMReg, SVR, GMMTree, FilterReg, Bayesian CPD)
Pytorch implementation of R-Transformer. Some parts of the code are adapted from the implementation of TCN and Transformer.
simulation framework for the evaluation of the task-specific dexterity of any kinematic structures
Plugin for simulating compliant actuators dynamics in ROS-Gazebo