Kenneth Y. Goldberg

According to our database1, Kenneth Y. Goldberg authored at least 270 papers between 1987 and 2019.

Collaborative distances:

Awards

IEEE Fellow

IEEE Fellow 2005, "For contributions to networked telerobotics and geometric algorithms for automation.".

Timeline

Legend:

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PhD thesis 
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Homepages:

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Bibliography

2019
Learning ambidextrous robot grasping policies.
Sci. Robotics, 2019

On-Policy Dataset Synthesis for Learning Robot Grasping Policies Using Fully Convolutional Deep Networks.
IEEE Robotics and Automation Letters, 2019

SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards.
I. J. Robotics Res., 2019

Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities.
Proceedings of the International Symposium on Medical Robotics, 2019

A Fog Robotic System for Dynamic Visual Servoing.
Proceedings of the International Conference on Robotics and Automation, 2019

A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering.
Proceedings of the International Conference on Robotics and Automation, 2019

Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data.
Proceedings of the International Conference on Robotics and Automation, 2019

Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter.
Proceedings of the International Conference on Robotics and Automation, 2019

Screen Smashing: Iconoclasty in an Age of Illusionary Intelligence.
Proceedings of the 2019 ACM SIGCHI Conference on Creativity and Cognition, 2019

Screen Smashing: Iconoclasty in an Age of Illusionary Intelligence (Sheridan See C&C'19 id# cckn07dis for correct DOI & pdf).
Proceedings of the 2019 on Designing Interactive Systems Conference, DIS 2019, San Diego, 2019

2018
Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics.
IEEE Trans. Automation Science and Engineering, 2018

Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology.
IEEE Trans. Automation Science and Engineering, 2018

Personalizing Mobile Fitness Apps using Reinforcement Learning.
Proceedings of the Joint Proceedings of the ACM IUI 2018 Workshops co-located with the 23rd ACM Conference on Intelligent User Interfaces (ACM IUI 2018), 2018

SPRK: A low-cost stewart platform for motion study in surgical robotics.
Proceedings of the International Symposium on Medical Robotics, 2018

Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement.
Proceedings of the International Symposium on Medical Robotics, 2018

Towards a Soft Fingertip with Integrated Sensing and Actuation.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Routing Algorithms for Robot Assisted Precision Irrigation.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

RLlib: Abstractions for Distributed Reinforcement Learning.
Proceedings of the 35th International Conference on Machine Learning, 2018

Parametrized Hierarchical Procedures for Neural Programming.
Proceedings of the 6th International Conference on Learning Representations, 2018

Malasakit 2.0: A Participatory Online Platform with Feature Phone Integration and Voice Recognition for Crowdsourcing Disaster Risk Reduction Strategies in the Philippines.
Proceedings of the 2018 IEEE Global Humanitarian Technology Conference, 2018

FLUIDS: A First-Order Lightweight Urban Intersection Driving Simulator.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Towards Automating Precision Irrigation: Deep Learning to Infer Local Soil Moisture Conditions from Synthetic Aerial Agricultural Images.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

A Cloud-Based Robust Semaphore Mirroring System for Social Robots.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Multi-Robot Routing Algorithms for Robots Operating in Vineyards.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Learning Traffic Behaviors by Extracting Vehicle Trajectories from Online Video Streams.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Dex-Net as a Service (DNaaS): A Cloud-Based Robust Robot Grasp Planning System.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Learning 2D Surgical Camera Motion From Demonstrations.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

Linear Push Policies to Increase Grasp Access for Robot Bin Picking.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

An Open-Access Passive Modular Tool Changing System for Mobile Manipulation Robots.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018

2017
M-CAFE 2.0: A Scalable Platform with Comparative Plots and Topic Tagging for Ongoing Course Feedback.
Proceedings of the 18th Annual Conference on Information Technology Education and the 6th Annual Conference on Research in Information Technology, 2017

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics.
Proceedings of the Robotics: Science and Systems XIII, 2017

A cloud robot system using the dexterity network and berkeley robotics and automation as a service (Brass).
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Multilateral surgical pattern cutting in 2D orthotropic gauze with deep reinforcement learning policies for tensioning.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Comparing human-centric and robot-centric sampling for robot deep learning from demonstrations.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Design of parallel-jaw gripper tip surfaces for robust grasping.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Qualitative data analysis of disaster risk reduction suggestions assisted by topic modeling and word2vec.
Proceedings of the 2017 International Conference on Asian Language Processing, 2017

Malasakit 1.0: A participatory online platform for crowdsourcing disaster risk reduction strategies in the philippines.
Proceedings of the IEEE Global Humanitarian Technology Conference, 2017

Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences.
Proceedings of the 1st Annual Conference on Robot Learning, CoRL 2017, Mountain View, 2017

DART: Noise Injection for Robust Imitation Learning.
Proceedings of the 1st Annual Conference on Robot Learning, CoRL 2017, Mountain View, 2017

DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations.
Proceedings of the 1st Annual Conference on Robot Learning, CoRL 2017, Mountain View, 2017

An algorithm for transferring parallel-jaw grasps between 3D mesh subsegments.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

Using dVRK teleoperation to facilitate deep learning of automation tasks for an industrial robot.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

EchoBot: Facilitating data collection for robot learning with the Amazon echo.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

Statistical data cleaning for deep learning of automation tasks from demonstrations.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

An algorithm and user study for teaching bilateral manipulation via iterated best response demonstrations.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

2016
Networked Robots.
Proceedings of the Springer Handbook of Robotics, 2016

Editorial: "One Robot is Robotics, Ten Robots is Automation".
IEEE Trans. Automation Science and Engineering, 2016

Editorial Fine-Tuning T-ASE.
IEEE Trans. Automation Science and Engineering, 2016

Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes.
IEEE Robotics and Automation Letters, 2016

ActiveClean: Interactive Data Cleaning For Statistical Modeling.
PVLDB, 2016

Large-scale supervised learning of the grasp robustness of surface patch pairs.
Proceedings of the 2016 IEEE International Conference on Simulation, 2016

PrivateClean: Data Cleaning and Differential Privacy.
Proceedings of the 2016 International Conference on Management of Data, 2016

ActiveClean: An Interactive Data Cleaning Framework For Modern Machine Learning.
Proceedings of the 2016 International Conference on Management of Data, 2016

Occlusion-aware multi-robot 3D tracking.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Topological trajectory clustering with relative persistent homology.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

SHIV: Reducing supervisor burden in DAgger using support vectors for efficient learning from demonstrations in high dimensional state spaces.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016

Privacy-preserving Grasp Planning in the Cloud.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016

Robot grasping in clutter: Using a hierarchy of supervisors for learning from demonstrations.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016

DATE: A handheld co-robotic device for automated tuning of emitters to enable precision irrigation.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016

Tumor localization using automated palpation with Gaussian Process Adaptive Sampling.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016

2015
Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant.
IEEE Trans. Human-Machine Systems, 2015

Cloud-Based Grasp Analysis and Planning for Toleranced Parts Using Parallelized Monte Carlo Sampling.
IEEE Trans. Automation Science and Engineering, 2015

A Survey of Research on Cloud Robotics and Automation.
IEEE Trans. Automation Science and Engineering, 2015

Editorial Multiplicity Has More Potential Than Singularity.
IEEE Trans. Automation Science and Engineering, 2015

Efficient Proximity Probing Algorithms for Metrology.
IEEE Trans. Automation Science and Engineering, 2015

Emerging Advances in Automation [From the Guest Editors].
IEEE Robot. Automat. Mag., 2015

Navigating the New RAS Publications Landscape [From the Editors' Desks].
IEEE Robot. Automat. Mag., 2015

Stale View Cleaning: Getting Fresh Answers from Stale Materialized Views.
PVLDB, 2015

SampleClean: Fast and Reliable Analytics on Dirty Data.
IEEE Data Eng. Bull., 2015

M-CAFE 1.0: Motivating and Prioritizing Ongoing Student Feedback During MOOCs and Large on-Campus Courses using Collaborative Filtering.
Proceedings of the 16th Annual Conference on Information Technology Education, 2015

Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

A Case Study in Mobile-Optimized vs. Responsive Web Application Design.
Proceedings of the 17th International Conference on Human-Computer Interaction with Mobile Devices and Services Adjunct, 2015

M-CAFE: Managing MOOC Student Feedback with Collaborative Filtering.
Proceedings of the Second ACM Conference on Learning @ Scale, 2015

Transition State Clustering: Unsupervised Surgical Trajectory Segmentation for Robot Learning.
Proceedings of the Robotics Research, 2015

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Models of human-centered automation in a debridement task.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Active exploration using trajectory optimization for robotic grasping in the presence of occlusions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

The Slip-Pad: A haptic display using interleaved belts to simulate lateral and rotational slip.
Proceedings of the 2015 IEEE World Haptics Conference, 2015

DevCAFE 1.0: A participatory platform for assessing development initiatives in the field.
Proceedings of the 2015 IEEE Global Humanitarian Technology Conference, 2015

A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2015

Multi-armed bandit models for 2D grasp planning with uncertainty.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2015

2014
Motion planning with sequential convex optimization and convex collision checking.
I. J. Robotics Res., 2014

Potential-based bounded-cost search and Anytime Non-Parametric A*.
Artif. Intell., 2014

Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

A sample-and-clean framework for fast and accurate query processing on dirty data.
Proceedings of the International Conference on Management of Data, 2014

A methodology for learning, analyzing, and mitigating social influence bias in recommender systems.
Proceedings of the Eighth ACM Conference on Recommender Systems, 2014

Gaussian belief space planning with discontinuities in sensing domains.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Autonomous multilateral debridement with the Raven surgical robot.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression.
Proceedings of the 2014 IEEE International Conference on Automation Science and Engineering, 2014

Exact reachability analysis for planning skew-line needle arrangements for automated brachytherapy.
Proceedings of the 2014 IEEE International Conference on Automation Science and Engineering, 2014

2013
In Memoriam Richard A. (Dick) Volz.
IEEE Trans. Automation Science and Engineering, 2013

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy.
IEEE Trans. Automation Science and Engineering, 2013

The African Robotics Network and the 10 Dollar Robot Design Challenge [Society News].
IEEE Robot. Automat. Mag., 2013

Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Cloud-based robot grasping with the google object recognition engine.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Putting the turing into manufacturing: recent developments in algorithmic automation.
Proceedings of the Symposuim on Computational Geometry 2013, 2013

An efficient proximity probing algorithm for metrology.
Proceedings of the 2013 IEEE International Conference on Automation Science and Engineering, 2013

An algorithm for computing customized 3D printed implants with curvature constrained channels for enhancing intracavitary brachytherapy radiation delivery.
Proceedings of the 2013 IEEE International Conference on Automation Science and Engineering, 2013

2012
Editorial [intro. to Guest Editorial by Prof. Raff D'Andrea].
IEEE Trans. Automation Science and Engineering, 2012

Editorial Tracking T-ASE Inventory by Methodology and Application.
IEEE Trans. Automation Science and Engineering, 2012

What Is Automation?
IEEE Trans. Automation Science and Engineering, 2012

What Is Automation? [Editor's Corner].
IEEE Robot. Automat. Mag., 2012

A geometric approach to robotic laundry folding.
I. J. Robotics Res., 2012

A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes.
Proceedings of the Experimental Robotics, 2012

Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A robot path planning framework that learns from experience.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

The arts, HCI, and innovation policy discourse: invited panel.
Proceedings of the CHI Conference on Human Factors in Computing Systems, 2012

Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip.
Proceedings of the 2012 IEEE International Conference on Automation Science and Engineering, 2012

Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy.
Proceedings of the 2012 IEEE International Conference on Automation Science and Engineering, 2012

Visual tracking of human visitors under variable-lighting conditions for a responsive audio art installation.
Proceedings of the American Control Conference, 2012

2011
Robot-Assisted Needle Steering.
IEEE Robot. Automat. Mag., 2011

Grasping and Fixturing as Submodular Coverage Problems.
Proceedings of the Robotics Research, 2011

EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

The diversity donut: enabling participant control over the diversity of recommended responses.
Proceedings of the International Conference on Human Factors in Computing Systems, 2011

Anytime Nonparametric A.
Proceedings of the Twenty-Fifth AAAI Conference on Artificial Intelligence, 2011

2010
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.
I. J. Robotics Res., 2010

LQG-Based Planning, Sensing, and Control of Steerable Needles.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

Gravity-Based Robotic Cloth Folding.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information.
Proceedings of the Robotics: Science and Systems VI, 2010

Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Opinion space: a scalable tool for browsing online comments.
Proceedings of the 28th International Conference on Human Factors in Computing Systems, 2010

2009
Interactive simulation of surgical needle insertion and steering.
ACM Trans. Graph., 2009

Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues.
IEEE Trans. Information Technology in Biomedicine, 2009

Feedback control for steering needles through 3D deformable tissue using helical paths.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Donation dashboard: a recommender system for donation portfolios.
Proceedings of the 2009 ACM Conference on Recommender Systems, 2009

Planning fireworks trajectories for steerable medical needles to reduce patient trauma.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Nonparametric belief propagation for distributed tracking of robot networks with noisy inter-distance measurements.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Guiding medical needles using single-point tissue manipulation.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Promoting social creativity: a component of a national initiative for social participation.
Proceedings of the 7th Conference on Creativity & Cognition, Berkeley, 2009

2008
Networked Telerobots.
Proceedings of the Springer Handbook of Robotics, 2008

Motion Planning Under Uncertainty for Image-guided Medical Needle Steering.
I. J. Robotics Res., 2008

Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera.
Auton. Robots, 2008

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

System and algorithms for an autonomous observatory assisting the search for the Ivory-Billed Woodpecker.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

Actuator networks for navigating an unmonitored mobile robot.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

Hydra: A framework and algorithms for mixed-initiative UAV-assisted search and rescue.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures
Springer Tracts in Advanced Robotics 50, Springer, ISBN: 978-3-540-69257-7, 2008

2007
Approximate Algorithms for a Collaboratively Controlled Robotic Camera.
IEEE Trans. Robotics, 2007

Designing robot grippers: optimal edge contacts for part alignment.
Robotica, 2007

Immobilizing Hinged Polygons.
Int. J. Comput. Geometry Appl., 2007

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty.
Proceedings of the Robotics: Science and Systems III, 2007

Eigentaste 5.0: constant-time adaptability in a recommender system using item clustering.
Proceedings of the 2007 ACM Conference on Recommender Systems, 2007

Respectful cameras: detecting visual markers in real-time to address privacy concerns.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Calibration of Wafer Handling Robots: A Fixturing Approach.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2007

Automated Feeding of Industrial Parts with Modular Blades: Design Software, Physical Experiments, and an Improved Algorithm.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2007

Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2007

2006
Exact algorithms for single frame selection on multiaxis Satellites.
IEEE Trans. Automation Science and Engineering, 2006

Amplifying research.
IEEE Robot. Automat. Mag., 2006

Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

Sensitivity analysis: unexpected outcomes in art and engineering.
Proceedings of the 14th ACM International Conference on Multimedia, 2006

A Minimum Variance Calibration Algorithm for Pan-tilt Robotic Cameras in Natural Environments.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Aligning Windows of Live Video From an Imprecise Pan-tilt-zoom Robotic Camera into a Remote Panoramic Display.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Blades: a New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors.
Proceedings of the 2006 IEEE International Conference on Automation Science and Engineering, 2006

2005
Fixture-based industrial robot calibration for silicon wafer handling.
Industrial Robot, 2005

D-space and Deform Closure Grasps of Deformable Parts.
I. J. Robotics Res., 2005

Networked Robotic Cameras for Collaborative Observation of Natural Environments.
Proceedings of the Robotics Research: Results of the 12th International Symposium, 2005

Steering flexible needles under Markov motion uncertainty.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Automating inspection and documentation of remote building construction using a robotic camera.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2005

On the design of guillotine traps for vibratory bowl feeders.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2005

2004
Guest Editorial.
IEEE Trans. Automation Science and Engineering, 2004

Editorial.
IEEE Trans. Automation Science and Engineering, 2004

Unilateral fixtures for sheet-metal parts with holes.
IEEE Trans. Automation Science and Engineering, 2004

Special Issue on WAFR 2002.
I. J. Robotics Res., 2004

Networked Robots: Ten Years of Experiments.
Proceedings of the Algorithmic Foundations of Robotics VI, 2004

Computing Deform Closure Grasps.
Proceedings of the Algorithmic Foundations of Robotics VI, 2004

An Exact Algorithm Optimizing Coverage-resolution for Automated Satellite Frame Selection.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

D-space and Deform Closure: a Framework for Holding Deformable Parts.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Unsupervised Scoring for Scalable Internet-based Collaborative Teleoperation.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Guest Editorial: Special Issue on Internet and Online Robots.
Auton. Robots, 2003

The co-opticon: shared access to a robotic streaming video camera.
Proceedings of the Eleventh ACM International Conference on Multimedia, 2003

ShareCam part II: approximate and distributed algorithms for a collaboratively controlled robotic Webcam.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

ShareCam part 1: interface, system architecture, and implementation of a collaboratively controlled robotic Webcam.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Sensorless planning for medical needle insertion procedures.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

"Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Efficient algorithms for shared camera control.
Proceedings of the 19th ACM Symposium on Computational Geometry, 2003

2002
Gripper point contacts for part alignment.
IEEE Trans. Robotics and Automation, 2002

Exact and Distributed Algorithms for Collaborative Camera Control.
Proceedings of the Algorithmic Foundations of Robotics V, 2002

Orienting Micro-Scale Parts with Squeeze and Roll Primitives.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Gripping Parts at Concave Vertices.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human "Tele-Actor".
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Fixturing Hinged Polygons.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Pin design for part feeding.
Robotica, 2001

Eigentaste: A Constant Time Collaborative Filtering Algorithm.
Inf. Retr., 2001

Trap Design for Vibratory Bowl Feeders.
I. J. Robotics Res., 2001

Shape tolerance for robot gripper jaws.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Collaborative control of robot motion: robustness to error.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Design of Robot Gripper Jaws based on Trapezoidal Modules.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Orienting Parts by Inside-out Pulling.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Collaborative tele-directing.
Proceedings of the CHI '01 Extended Abstracts on Human Factors in Computing Systems, 2001

2000
Robots on the web [Guest Editorial].
IEEE Robot. Automat. Mag., 2000

The Mercury Project: a feasibility study for Internet robots.
IEEE Robot. Automat. Mag., 2000

Geometric Eccentricity and the Complexity of Manipulation Plans.
Algorithmica, 2000

Algorithms for Sensorless Manipulation Using a Vibrating Surface.
Algorithmica, 2000

The Toppling Graph: Designing Pin Sequences for Part Feeding.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Collaborative Teleoperation via the Internet.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Geometry and Part Feeding.
Proceedings of the Sensor Based Intelligent Robots, 2000

The 2-center problem with obstacles.
Proceedings of the Sixteenth Annual Symposium on Computational Geometry, 2000

1999
Part pose statistics: estimators and experiments.
IEEE Trans. Robotics and Automation, 1999

Jester 2.0: Collaborative Filtering to Retrieve Jokes (demonstration abstract).
Proceedings of the SIGIR '99: Proceedings of the 22nd Annual International ACM SIGIR Conference on Research and Development in Information Retrieval, 1999

Jester 2.0: Evaluation of an New Linear Time Collaborative Filtering Algorithm (poster abstract).
Proceedings of the SIGIR '99: Proceedings of the 22nd Annual International ACM SIGIR Conference on Research and Development in Information Retrieval, 1999

Computing Parallel-Jaw Grips.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Trap Design for Vibratory Bowl Feeders.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Geometric Algorithms for Trap Design.
Proceedings of the Fifteenth Annual Symposium on Computational Geometry, 1999

1998
A Complete Algorithm for Fixture Loading.
I. J. Robotics Res., 1998

Computing fence designs for orienting parts.
Comput. Geom., 1998

Estimating and optimizing throughput of a robotic part feeder using queueing theory.
Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

Parallel Microassembly with Electrostatic Force Fields.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
FixtureNet: interactive computer-aided design via the World Wide Web.
Int. J. Hum.-Comput. Stud., 1997

Interfacing reality: exploring emerging trends between humans and machines (panel).
Proceedings of the 24th Annual Conference on Computer Graphics and Interactive Techniques, 1997

Analysis of part motion on a longitudinally vibrating plate.
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 1997

Simplifying complex CAD geometry with conservative bounding contours.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Tuning robotic part feeder parameters to maximize throughput.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

On Fence Design and the Complexity of Push Plans for Orienting Parts.
Proceedings of the Thirteenth Annual Symposium on Computational Geometry, 1997

1996
Complete algorithms for feeding polyhedral parts using pivot grasps.
IEEE Trans. Robotics and Automation, 1996

A complete algorithm for designing planar fixtures using modular components.
IEEE Trans. Robotics and Automation, 1996

On the Existence of Solutions in Modular Fixturing.
I. J. Robotics Res., 1996

Computing Grasp Functions.
Comput. Geom., 1996

Legal tender.
Proceedings of the ACM SIGGRAPH 96 Visual Proceedings: The art and interdisciplinary programs of SIGGRAPH 1996, 1996

A complete algorithm for designing passive fences to orient parts.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Estimating pose statistics for robotic part feeders.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Compiling assembly plans into hard automation.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995
Manipulating algebraic parts in the plane.
IEEE Trans. Robotics and Automation, 1995

Sorting parts by random grasping.
IEEE Trans. Robotics and Automation, 1995

Comparing two algorithms for automatic planning by robots in stochastic environments.
Robotica, 1995

Friction and part curvature in parallel- jaw grasping.
J. Field Robotics, 1995

A risc approach to sensing and manipulation.
J. Field Robotics, 1995

Beyond the Web: Manipulating the Real World.
Computer Networks and ISDN Systems, 1995

Estimating Throughput for a Flexible Part Feeder.
Proceedings of the Experimental Robotics IV, The 4th International Symposium, Stanford, California, USA, June 30, 1995

Complete Algorithms for Reorienting Polyhedral Parts Using a Pivoting Gripper.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Destop Teleoperation via the World Wide Web.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Sensorless manipulation using transverse vibrations of a plate.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Complete Algorithms for Reorienting Polyhedral Parts Using a Pivoting Gripper.
Proceedings of the Eleventh Annual Symposium on Computational Geometry, 1995

1994
A RISC approach to robotics.
IEEE Robot. Automat. Mag., 1994

Shape from Diameter: Recognizing Polygonal Parts With a Parallel-Jaw Gripper.
I. J. Robotics Res., 1994

On the Existence of Modular Fixtures.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

A Pivoting Gripper for Feeding Industrial Parts.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

"RISC" for Industrial Robotics: Recent Results and Open Problems.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

A Complete Algorithm for Synthesizing Modular Fixtures for Polygonal Parts.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
Orienting Polygonal Parts Without Sensors.
Algorithmica, 1993

On the Relation Between Friction and Part Shape in Parallel-Jaw Grasping.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Placing Registration Marks.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Grasp Recognition Strategies from Empirical Models.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Curved Fences for Part Alignment.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1992
Shape Recognition By Random grasping.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992

Orienting generalized polygonal parts.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

A shape metric for design-for-assembly.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991
Generating stochastic plans for a programmable parts feeder.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990
Bayesian grasping.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

1988
Using Backpropagation with Temporal Windows to Learn the Dynamics of the CMU Direct-Drive Arm II.
Proceedings of the Advances in Neural Information Processing Systems 1, 1988

1987
Conditions for symmetric running in single- and double-support.
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31, 1987


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