DATE: A handheld co-robotic device for automated tuning of emitters to enable precision irrigation. - David V. Gealy; Stephen McKinley; Menglong Guo; Lauren Miller; Stavros Vougioukas; Joshua Viers; Stefano Carpin; Ken Goldberg (CASE, 2016)

Robot grasping in clutter: Using a hierarchy of supervisors for learning from demonstrations. - Michael Laskey; Jonathan Lee 002; Caleb Chuck; David V. Gealy; Wesley Yu-Shu Hsieh; Florian T. Pokorny; Anca D. Dragan; Ken Goldberg (CASE, 2016)

An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. - Stephen McKinley; Animesh Garg; Siddarth Sen; David V. Gealy; Jonathan P. McKinley; Yiming Jen; Menglong Guo; Walter Doug Boyd; Ken Goldberg (CASE, 2016)

Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization. - Siddarth Sen; Animesh Garg; David V. Gealy; Stephen McKinley; Yiming Jen; Ken Goldberg (ICRA, 2016)

Design of parallel-jaw gripper tip surfaces for robust grasping. - Menglong Guo; David V. Gealy; Jacky Liang; Jeffrey Mahler; Aimee Goncalves; Stephen McKinley; Juan Aparicio Ojea; Ken Goldberg (ICRA, 2017)

Dex-Net 3.0: Computing Robust Robot Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning. - Jeffrey Mahler; Matthew Matl; Xinyu Liu 014; Albert Li; David V. Gealy; Ken Goldberg (CoRR, 2017)

Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning. - Jeffrey Mahler; Matthew Matl; Xinyu Liu 014; Albert Li; David V. Gealy; Ken Goldberg (ICRA, 2018)

Blue Gripper: A Robust, Low-Cost, and Force-Controlled Robot Hand. - Menglong Guo; Philipp Wu; Brent Yi; David V. Gealy; Stephen McKinley; Pieter Abbeel (CASE, 2019)

Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation. - David V. Gealy; Stephen McKinley; Brent Yi; Philipp Wu; Phillip R. Downey; Greg Balke; Allan Zhao; Menglong Guo; Rachel Thomasson; Anthony Sinclair; Peter Cuellar; Zoe McCarthy; et al. (ICRA, 2019)