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List of works by Ken Goldberg

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics

scientific article

A Case Study in Mobile-Optimized vs. Responsive Web Application Design

A Computer-Aided Design Tool in Java for Planar Gripper Design

article by Mike Tao Zhang & Ken Goldberg published 2004 in Journal of computing and information science in engineering

A Geometric Approach to Robotic Laundry Folding1

A RISC approach to robotics

A Survey of Research on Cloud Robotics and Automation

A complete algorithm for designing planar fixtures using modular components

article by R.C. Brost et al published 1996 in IEEE Transactions on Automation Science and Engineering

A geometric approach to robotic laundry folding

A minimum variance calibration algorithm for pan-tilt robotic cameras in natural environments

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks

A robot path planning framework that learns from experience

article published in 2012

A sample-and-clean framework for fast and accurate query processing on dirty data

A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery

Active exploration using trajectory optimization for robotic grasping in the presence of occlusions

Actuator networks for navigating an unmonitored mobile robot

Algorithms for Visual Tracking of Visitors Under Variable-Lighting Conditions for a Responsive Audio Art Installation

Aligning parts for micro assemblies

Aligning windows of live video from an imprecise pan-tilt-zoom robotic camera into a remote panoramic display

An algorithm for computing customized 3D printed implants with curvature constrained channels for enhancing intracavitary brachytherapy radiation delivery

scholarly article published August 2013

An efficient proximity probing algorithm for metrology

scholarly article published August 2013

Approximate Algorithms for a Collaboratively Controlled Robotic Camera

Automated Feeding of Industrial Parts with Modular Blades: Design Software, Physical Experiments, and an Improved Algorithm

Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors

Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models

Autonomous multilateral debridement with the Raven surgical robot

Beyond the Web: manipulating the real world

Blades for feeding 3D parts on vibratory tracks

Blades: a new class of geometric primitives for feeding 3D parts on vibratory tracks

Calibration of Wafer Handling Robots: A Fixturing Approach

scholarly article published September 2007

Cloud-Based Grasp Analysis and Planning for Toleranced Parts Using Parallelized Monte Carlo Sampling

Cloud-based robot grasping with the google object recognition engine

scholarly article published May 2013

Collaborative tele-directing

Collaborative teleoperation using networked spatial dynamic voting

Combating COVID-19—The role of robotics in managing public health and infectious diseases

scientific article published on 25 March 2020

Complete algorithms for feeding polyhedral parts using pivot grasps

Computing grasp functions

Computing tolerance parameters for fixturing and feeding

Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering

D-space and Deform Closure Grasps of Deformable Parts

Deep learning can accelerate grasp-optimized motion planning

scientific article published on 01 November 2020

Designing robot grippers: optimal edge contacts for part alignment

DevCAFE 1.0: A participatory platform for assessing development initiatives in the field

Donation dashboard

scholarly article published 2009

EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles

Editorial

Editorial Multiplicity Has More Potential Than Singularity

Editorial [intro. to Guest Editorial by Prof. Raff D'Andrea]

Editorial: A Secret to Advancing Research and Increasing Citations to Your Papers

Editorial: Tracking T-ASE Inventory by Methodology and Application

Efficient Proximity Probing Algorithms for Metrology

scholarly article by Aviv Adler et al published January 2015 in IEEE Transactions on Automation Science and Engineering

Eigentaste 5.0

scholarly article published 2007

Eigentaste: A Constant Time Collaborative Filtering Algorithm

Emerging Advances in Automation [From the Guest Editors]

Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes

article by Jeffrey Mahler et al published January 2016 in IEEE robotics and automation letters

Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip

article

Evaluating Machine Learning-Based Automated Personalized Daily Step Goals Delivered Through a Mobile Phone App: Randomized Controlled Trial.

scientific article published on 25 January 2018

Evaluation of PC-ISO for customized, 3D Printed, gynecologic 192-Ir HDR brachytherapy applicators

scientific article published on 8 January 2015

Exact algorithms for single frame selection on multiaxis Satellites

Exact and Distributed Algorithms for Collaborative Camera Control

Exact reachability analysis for planning skew-line needle arrangements for automated brachytherapy

Fixture‐based industrial robot calibration for silicon wafer handling

article by Mike Tao Zhang & Ken Goldberg published February 2005 in Industrial Robot

GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming

Gaussian belief space planning with discontinuities in sensing domains

Gravity-Based Robotic Cloth Folding

scholarly article by Jur van den Berg et al published 2010 in Springer tracts in advanced robotics

Gripper point contacts for part alignment

Guiding medical needles using single-point tissue manipulation

Hydra: A framework and algorithms for mixed-initiative UAV-assisted search and rescue

article published in 2008

IEEE RAS and the African Robotics Network: The 2014 UltraAffordable Educational Robot Challenge [Competitions]

article

IMMOBILIZING HINGED POLYGONS

IPIP: A new approach to inverse planning for HDR brachytherapy by directly optimizing dosimetric indices

scientific article

In Memoriam Richard A. (Dick) Volz

Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy

Integrated Planning and Image-Guided Control for Planar Needle Steering

scientific article

Interactive simulation of surgical needle insertion and steering

article published in 2009

Ken Goldberg: 4 lessons from robots about being human

TEDxBerkeley

LQG-Based Planning, Sensing, and Control of Steerable Needles

article published in 2010

LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information

Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression

Learning ambidextrous robot grasping policies

scientific article published on 01 January 2019

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms

M-CAFE

M-CAFE 1.0

Manipulating algebraic parts in the plane

scholarly article by A.S. Rao et al published 1995 in IEEE Transactions on Automation Science and Engineering

Models of human-centered automation in a debridement task

Motion Planning Under Uncertainty for Image-guided Medical Needle Steering

scientific article published on January 2008

Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining

article published in 2008

Motion planning with sequential convex optimization and convex collision checking

Multi-armed bandit models for 2D grasp planning with uncertainty

NPIP: A skew line needle configuration optimization system for HDR brachytherapy

scientific article published on July 2012

Navigating the New RAS Publications Landscape [From the Editors' Desks]

Net Works

May 2012 scholarly article

Nonparametric belief propagation for distributed tracking of robot networks with noisy inter-distance measurements

Objectively Measured Baseline Physical Activity Patterns in Women in the mPED Trial: Cluster Analysis

scientific article published in February 2018

On the design of guillotine traps for vibratory bowl feeders

scholarly article

Opinion space

article published in 2010

Optimization of HDR brachytherapy dose distributions using linear programming with penalty costs

scientific article published in November 2006

Optimizing robotic part feeder throughput with queueing theory

Orienting polygonal parts without sensors

article

Part pose statistics: estimators and experiments

Planning Curvature and Torsion Constrained Ribbons in 3D With Application to Intracavitary Brachytherapy

article by Sachin Patil et al published October 2015 in IEEE Transactions on Automation Science and Engineering

Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy

article by Sachin Patil et al published 2015 in Springer tracts in advanced robotics

Planning Fireworks Trajectories for Steerable Medical Needles to Reduce Patient Trauma.

scientific article

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles

article

Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization

scholarly article published May 2014

Potential-based bounded-cost search and Anytime Non-ParametricA⁎

Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation

scientific article published in February 2006

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns

Respectful cameras: detecting visual markers in real-time to address privacy concerns

Robot-Assisted Needle Steering

scientific article (publication date: 8 December 2011)

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance

article

Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation

Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles

scientific article

Sensitivity analysis

Sensorless manipulation using transverse vibrations of a plate

article

Sensorless motion planning for medical needle insertion in deformable tissues

scientific article

Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles

Simulating needle insertion and radioactive seed implantation for prostate brachytherapy

scientific article published on 01 January 2003

Sorting parts by random grasping

Steering flexible needles under Markov motion uncertainty

Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations

Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning

scientific article published on 01 October 2009

System and algorithms for an autonomous observatory assisting the search for the Ivory-Billed Woodpecker

Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera

The 2-Center Problem with Obstacles

The Mercury Project: a feasibility study for Internet robots

The Slip-Pad: A haptic display using interleaved belts to simulate lateral and rotational slip

The arts, HCI, and innovation policy discourse

article

The diversity donut

Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics

scholarly article by Vincent Duindam et al published 22 October 2009 in The International Journal of Robotics Research

Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps

article

Two Large Open-Access Datasets for Fitts’ Law of Human Motion and a Succinct Derivation of the Square-Root Variant

Unilateral Fixtures for Sheet-Metal Parts With Holes

article

Virtual Reality in the Age of Telepresence

What Is Automation?

What Is Automation? [Editor's Corner]