Ken Goldberg: Online Publications

Algorithmic Automation: Part Feeding, Fixturing

Blades: A New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks.
Onno C. Goemans, Ken Goldberg, and Frank van der Stappen. IEEE International Conference on Robotics and Automation. May 2006, Orlando FL. Finalist for Best Conference Paper. [300KB .pdf]

D-Space and Deform Closure Grasps of Deformable Parts.
K. "Gopal" Gopalakrishnan and Ken Goldberg. International Journal of Robotics Research, Vol 24(11), November 2005. [0.3MB .pdf]

Unilateral Fixtures for Sheet Metal Parts with Holes.
K. "Gopal" Gopalakrishnan, Ken Goldberg, Gary M. Bone, Matthew Zaluzec, Rama Koganti, Patricia Deneszczuk and Rich Pearson. IEEE Transactions on Automation Science and Engineering. 1(2), pp 110-120, October 2004. Recipient of T-ASE Best Journal Paper of 2004 Award. [1MB .pdf]

Gripper Point Contacts for Part Alignment.
Mike Tao Zhang and Ken Goldberg
IEEE Transactions on Robotics and Automation, 18(6), pp. 902-910. December, 2002.
[1MB .pdf]

Gripping Parts at Concave Vertices,
K. "Gopal" Gopalakrishnan and K. Goldberg,
IEEE International Conference on Robotics and Automation, May 2002. [430K .pdf]

Orienting Micro-Scale Parts with Squeeze and Roll Primitives,
M. Moll, K. Goldberg, M. Erdmann, R. Fearing,
IEEE International Conference on Robotics and Automation, May 2002. [90K .pdf]

Trap Design for Vibratory Part Feeders.
R-P. Berretty, K. Goldberg, M. Overmars, F. Van der Stappen.
International Journal of Robotics Research. 20(11), November 2001. [500K .pdf]

Geometry and Part Feeding,
A.F. van der Stappen, R.-P. Berretty, Ken Goldberg, and M.H. Overmars, in: Modelling of Sensor-Based Intelligent Robot Systems, Edited by H. Bunke, H.I. Christensen, G. Hager, and R. Klein, Lecture Notes in Computer Science, Springer Verlag, Berlin, 2001 .
[570K .pdf]

Pin Design for Part Feeding.
Tao Zhang, Ken Goldberg, Gordon Smith, Robert-Paul Berretty, and Mark Overmars, Robotica Journal.
[1MB .pdf]

Shape Tolerance for Robot Gripper Jaws,
Tao Zhang, Lawrence Cheung and Ken Goldberg, IEEE/RSJ International Conference on Robots and Systems, October 2001. [90K .pdf]

Compensatory Grasping with the Parallel-Jaw Gripper,
T. Zhang, G. Smith, K. Goldberg, Fourth Workshop on Algorithmic Foundations of Robotics. March 2000
[700K .pdf]

Part Pose Statistics: Estimators and Experiments,
K. Goldberg, B. Mirtich, Y. Zhuang, J. Craig, B. Carlisle, and J. Canny, IEEE Transactions on Robotics and Automation. 15(5), 849-857, October, 1999.
[275K .pdf]

Geometric Eccentricity and the Complexity of Manipulation Plans,
F. van der Stappen, K. Goldberg, and M. Overmars, Algorithmica, Algorithmica, 26(3/4), 494-514. March 2000.
[400K .pdf]

Algorithms for Sensorless Manipulation Using a Vibrating Surface,
K. Bohringer, K. Goldberg, V. Bhatt and B. Donald, Algorithmica. 26(3/4), 389-429. March 2000.
[10M .pdf]

Computing Parallel-Jaw Grip Points,
G. Smith, E. Lee, K. Goldberg, K. Bohringer, and J. Craig, IEEE International Conference on Robotics and Automation (ICRA). May, 1999.
[272K .pdf]

A Complete Algorithm for Designing Passive Fences to Orient Parts,
J. Wiegley, K. Goldberg, M. Peshkin, and M. Brokowski, IEEE International Conference on Robotics and Automation, Minneapolis, MN. April, 1996.
[44K ps.gz]

Manipulating Algebraic Parts in the Plane,
A. Rao and K. Goldberg, IEEE Transactions on Robotics and Automation. 11(4), August 1995.
[300K .pdf]

Completeness in Robot Motion Planning ,
K. Goldberg, The First Workshop on the Algorithmic Foundations of Robotics . A. K. Peters. February, 1994.
[188K .pdf]

Shape from Diameter: Recognizing Polygonal Parts with a Parallel-Jaw Gripper,
A. Rao and K. Goldberg, International Journal of Robotics Research. 13(1), February 1994.
[373K .pdf]

On the Existence of Modular Fixtures,
Y. Zhuang and K. Goldberg, International Journal of Robotics Research. 15(5), December, 1996.
[127K .pdf]

A complete algorithm for designing planar fixtures using modular components,
R. C. Brost and K. Y. Goldberg, IEEE Transactions on Robotics and Automation. 12(1), Feb. 1996 Page(s):31 - 46.
[2.4M .pdf]

A Pivoting Gripper for Feeding Industrial Parts,
B. Carlisle and A. Rao and J. Wiegley, K. Goldberg, 1994 IEEE Conference on Robotics and Automation, May 1994.
[52K .pdf]

RISC for Industrial Robots: Recent Results and Open Problems,
J. Canny and K. Goldberg, IEEE Conference on Robotics and Automation, May, 1994.
[81K .pdf]

Orienting Polygonal Parts Without Sensors,
K. Goldberg (PhD Thesis), Algorithmica, Special Issue on Computational Robotics, Volume 10(3), 201-225, August, 1993.
[166K .pdf]

Conditions for Symmetric Running in Single- and Double-Support,
K. Goldberg and M. Raibert, IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987.
[3.4MB .pdf]

XY Interpolation Algorithms,,
K. Goldberg and M. Goldberg, Robotics Age,, May/June, 1983.
[1.5MB .pdf]

Networked Telerobotics: Systems, Collaborative Algorithms

Systems, Control Models, and Codec for Collaborative Observation of Remote Environments with an Autonomous Networked Robotic Camera.
Dezhen Song, Ni Qin, and Ken Goldberg. Autonomous Robots. Vol. 24, No. 4. May 2008. [1.0MB .pdf]

System and Algorithms for an Autonomous Observatory Assisting the Search for the Ivory-Billed Woodpecker.
Dezhen Song, Ni Qin, Yiliang Xu, Chang Young Kim, David Luneau, and Ken Goldberg. Submitted to IEEE CASE. Feb 2008. [1.5MB .pdf]

Eigentaste 5.0: Constant-Time Adaptability in a Recommender System Using Item Clustering,
Tavi Nathanson, Ephrat Bitton, and Ken Goldberg. Working Paper Track. ACM Conference on Recommender Systems (RecSys) , Minneapolis, MN, Oct 2007. [250KB .pdf]

Approximate Algorithms for a Collaboratively Controlled Robotic Camera.
Dezhen Song and Ken Goldberg. IEEE Transactions on Robotics. Vol. 23, No. 5, pp. 1061-1070. Oct 2007. [350 KB .pdf]

Exact Algorithms for Single Frame Selection on Multi-Axis Satellites.
Dez Song and A. Frank van der Stappen and Ken Goldberg. IEEE Transactions on Automation Science and Engineering, Vol. 3(1), January 2006. [1MB .pdf]

Unsupervised Scoring for Internet-based Collaborative Tele-operation,
Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, and Dana Plautz, IEEE International Conference on Robotics and Automation (ICRA), April 2004. [0.4MB .pdf]

An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection,
Dezhen Song, A. Frank van der Stappen, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA), April 2004. [0.4MB .pdf]

ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam,
Dezhen Song and Ken Goldberg, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

ShareCam Part II: Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam,
Dezhen Song, Ken Goldberg, and Anatoly Pashkevich, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

Exact and Distributed Algorithms for Collaborative Camera Control,
Dezhen Song, A. Frank van der Stappen, and Ken Goldberg, Fifth Workshop on the Algorithmic Foundations of Robotics, Nice, France. Dec 2002. [0.5MB .pdf]

Collaborative Teleoperation using Networked Spatial Dynamic Voting.
Ken Goldberg, Dezhen Song, and Anthony Levandowski, Proceedings of the IEEE, Special issue on Networked Robots. 91(3), pp. 430-439, March 2003. [2.4MB .pdf]

Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human ``Tele-Actor,''
K. Goldberg, D. Song, Y. Khor, D. Pescovitz, A. Levandowski, J. Himmelstein, J. Shih, A. Ho, E. Paulos, J. Donath, IEEE International Conference on Robotics and Automation, May 2002. [590K .pdf]

Collaborative Control of Robot Motion: Robustness to Error,
Ken Goldberg and Billy Chen, IEEE/RSJ International Conference on Robots and Systems, October 2001. [450K .pdf]

Eigentaste: A Constant Time Collaborative Filtering Algorithm,
Ken Goldberg, Theresa Roeder, Dhruv Gupta, and Chris Perkins, Information Retrieval Journal,4(2), pp. 133-151. July 2001. [360K .pdf]

Collaborative Teleoperation on the Internet,
Ken Goldberg, Steve Bui, Billy Chen, Bobak Farzin, Jacob Heitler, Derek Poon, Rory Solomon, and Gordon Smith), IEEE ICRA 2000. San Francisco, CA. April, 2000.
[200K .pdf]

The Mercury Project: A Feasibility Study for Internet Robots,
K. Goldberg, S. Gentner, C. Sutter, J. Wiegley, IEEE Robotics and Automation Magazine. Special Issue on Internet Robotics, December, 1999.
[225K .pdf]

Desktop Teleoperation via the World Wide Web,
K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley, IEEE International Conference on Robotics and Automation, May 1995. Pages:654 - 659 vol.1.
[1.1MB .pdf]

Medical Robotics: Steerable Needles, Dose Delivery

Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles,
Vincent Duindam, Ron Alterovitz, Shankar Sastry, and Ken Goldberg. IEEE ICRA. May 2008. [600KB .pdf]

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty,
Ron Alterovitz, Thierry Simeon, and Ken Goldberg. Robotics Science and Systems. June 2007, Atlanta, GA. [200KB .pdf]

Optimization of HDR Brachytherapy Dose Distributions using Linear Programming with Penalty Costs.
Ron Alterovitz, Etienne Lessard, Jean Pouliot, I-Chow Joe Hsu, James F. O'Brien, and Ken Goldberg. Medical Physics Journal. vol. 33, no. 11, pp. 4012-4019, Nov. 2006. [500KB .pdf]

Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation.
Ron Alterovitz, Ken Goldberg, Jean Pouliot, I-Chow Joe Hsu, Yongbok Kim, Susan Moyher Noworolski, and John Kurhanewicz. Medical Physics Journal, vol. 33(2), pp. 446-454, February 2006. [1MB .pdf]

Steering Flexible Needles Under Markov Motion Uncertainty,
Ron Alterovitz and Andrew Lim and Ken Goldberg and Gregory S. Chirikjian and Allison M. Okamura, IEEE International Conference on Intelligent Robotics and Systems (IROS), August 2005. [0.2MB .pdf]

Planning for Steerable Bevel-tip Needle Insertion through 2D Soft Tissue with Obstacles,
Ron Alterovitz, Ken Goldberg, and Allison Okamura, IEEE International Conference on Robotics and Automation (ICRA), April 2005. [0.4MB .pdf]

Sensorless Planning for Medical Needle Insertion Procedures,
Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Taschereau, and I-Chow Hsu, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

Safety, Security, Privacy

Actuator Networks: Inducing Potential Fields to Guide a Moving Element to a Desired Position Using Push-Cage-Squeeze Cycles,
Jeremy Schiff, Danny Bazo, Vincent Duindam, Dezhen Song, Ken Goldberg. Submitted to IEEE CASE. Feb 2008.

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns.
Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, and Ken Goldberg. International Conference on Intelligent Robots and Systems (IROS) . San Diego, California. October 2007. [1.2MB .pdf]

Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models,
Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy Schiff, Max Meng, and Ken Goldberg. Third IEEE Conference on Automation Science and Engineering (CASE), Scottsdale, AZ, Sep 2007. [800KB .pdf]

Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors.
Jeremy Schiff and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE). Shanghai, China. October 2006. [327KB .pdf]

Automating Inspection and Documentation of Remote Building Construction using a Robotic Camera,
Dezhen Song, Qiang Hu, Ni Qin, and Ken Goldberg, IEEE International Conference on Automation Science and Engineering (CASE) 2005 , August 1 & 2, 2005, Edmonton, Canada. [0.5MB .pdf]

Comprehensive Chronological List of all publications.

For more information contact Ken Goldberg.