Kenneth Y. Goldberg

ORCID

Publication Activity (10 Years)

Years Active: 1987-2022
Publications (10 Years): 4

Top Venues

Publications

Paolo Fiorini, Kenneth Y. Goldberg, Yunhui Liu, Russell H. Taylor
Concepts and Trends in Autonomy for Robot-Assisted Surgery. Proc. IEEE 110 (7) (2022)
Benjamin W. McInroe, Carolyn L. Chen, Kenneth Y. Goldberg, Ruzena Bajcsy, Ronald S. Fearing
Towards a Soft Fingertip with Integrated Sensing and Actuation. IROS (2018)
Michael Laskey, Caleb Chuck, Jonathan Lee, Jeffrey Mahler, Sanjay Krishnan, Kevin G. Jamieson, Anca D. Dragan, Kenneth Y. Goldberg
Comparing Human-Centric and Robot-Centric Sampling for Robot Deep Learning from Demonstrations. CoRR (2016)
Daniel Seita, Florian T. Pokorny, Jeffrey Mahler, Danica Kragic, Michael J. Franklin, John F. Canny, Kenneth Y. Goldberg
Large-scale supervised learning of the grasp robustness of surface patch pairs. SIMPAR (2016)
Gregory Kahn, Peter Sujan, Sachin Patil, Shaunak D. Bopardikar, Julian Ryde, Kenneth Y. Goldberg, Pieter Abbeel
Active exploration using trajectory optimization for robotic grasping in the presence of occlusions. ICRA (2015)
Brandie Nonnecke, Sanjay Krishnan, Jay Patel, Mo Zhou, Laura Byaruhanga, Dorothy Masinde, Maria Elena Meneses, Alejandro Martin del Campo, Camille Crittenden, Kenneth Y. Goldberg
DevCAFE 1.0: A participatory platform for assessing development initiatives in the field. GHTC (2015)
Aviv Adler, Fatemeh Panahi, A. Frank van der Stappen, Kenneth Y. Goldberg
Efficient Proximity Probing Algorithms for Metrology. IEEE Trans Autom. Sci. Eng. 12 (1) (2015)
Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W. Douglas Boyd, Susan Lim, Pieter Abbeel, Kenneth Y. Goldberg
Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. ICRA (2015)
Kenneth Y. Goldberg, Siamak Faridani, Ron Alterovitz
Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant. IEEE Trans. Hum. Mach. Syst. 45 (1) (2015)
Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex X. Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Kenneth Y. Goldberg
Autonomous multilateral debridement with the Raven surgical robot. ICRA (2014)
Yan Duan, Sachin Patil, John Schulman, Kenneth Y. Goldberg, Pieter Abbeel
Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization. ICRA (2014)
Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamtürk, Kenneth Y. Goldberg
Exact reachability analysis for planning skew-line needle arrangements for automated brachytherapy. CASE (2014)
Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Kenneth Y. Goldberg
Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression. CASE (2014)
Kenneth Y. Goldberg
Putting the turing into manufacturing: recent developments in algorithmic automation. SoCG (2013)
Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Kenneth Y. Goldberg, Pieter Abbeel
A geometric approach to robotic laundry folding. Int. J. Robotics Res. 31 (2) (2012)
Andrew B. Godbehere, Akihiro Matsukawa, Kenneth Y. Goldberg
Visual tracking of human visitors under variable-lighting conditions for a responsive audio art installation. ACC (2012)
Jur van den Berg, Rajat Shah, Arthur Huang, Kenneth Y. Goldberg
Anytime Nonparametric A. AAAI (2011)
Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Kenneth Y. Goldberg, Noah J. Cowan, Allison M. Okamura
Robot-Assisted Needle Steering. IEEE Robotics Autom. Mag. 18 (4) (2011)
Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep M. Porta, Kenneth Y. Goldberg
EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles. IROS (2011)
David Wong, Siamak Faridani, Ephrat Bitton, Björn Hartmann, Kenneth Y. Goldberg
The diversity donut: enabling participant control over the diversity of recommended responses. CHI Extended Abstracts (2011)
Jur van den Berg, Pieter Abbeel, Kenneth Y. Goldberg
LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information. Int. J. Robotics Res. 30 (7) (2011)
Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Kenneth Y. Goldberg, Pieter Abbeel
Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations. ICRA (2010)
Jur van den Berg, Pieter Abbeel, Kenneth Y. Goldberg
LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Robotics: Science and Systems (2010)
Jur van den Berg, Stephen Miller, Kenneth Y. Goldberg, Pieter Abbeel
Gravity-Based Robotic Cloth Folding. WAFR (2010)
Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Int. J. Robotics Res. 29 (7) (2010)
Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Kenneth Y. Goldberg
LQG-Based Planning, Sensing, and Control of Steerable Needles. WAFR (2010)
Siamak Faridani, Ephrat Bitton, Kimiko Ryokai, Kenneth Y. Goldberg
Opinion space: a scalable tool for browsing online comments. CHI (2010)
Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, I-Chow Hsu
Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues. IEEE Trans. Inf. Technol. Biomed. 13 (2) (2009)
Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Pouliot, J. Adam M. Cunha, I-Chow Hsu, Kenneth Y. Goldberg
Planning fireworks trajectories for steerable medical needles to reduce patient trauma. IROS (2009)
Kris K. Hauser, Ron Alterovitz, Nuttapong Chentanez, Allison M. Okamura, Kenneth Y. Goldberg
Feedback control for steering needles through 3D deformable tissue using helical paths. Robotics: Science and Systems (2009)
Ben Shneiderman, Elizabeth F. Churchill, Gerhard Fischer, Kenneth Y. Goldberg
Promoting social creativity: a component of a national initiative for social participation. Creativity & Cognition (2009)
Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris K. Hauser, Kenneth Y. Goldberg, Jonathan Richard Shewchuk, James F. O'Brien
Interactive simulation of surgical needle insertion and steering. ACM Trans. Graph. 28 (3) (2009)
Tavi Nathanson, Ephrat Bitton, Kenneth Y. Goldberg
Donation dashboard: a recommender system for donation portfolios. RecSys (2009)
Jeremy Schiff, Erik B. Sudderth, Kenneth Y. Goldberg
Nonparametric belief propagation for distributed tracking of robot networks with noisy inter-distance measurements. IROS (2009)
Meysam Torabi, Kris K. Hauser, Ron Alterovitz, Vincent Duindam, Kenneth Y. Goldberg
Guiding medical needles using single-point tissue manipulation. ICRA (2009)
Rik Jansen, Kris K. Hauser, Nuttapong Chentanez, A. Frank van der Stappen, Kenneth Y. Goldberg
Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning. IROS (2009)
Vincent Duindam, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles. ICRA (2008)
Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. WAFR (2008)
Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering. Int. J. Robotics Res. 27 (11-12) (2008)
Dezhen Song, Ni Qin, Kenneth Y. Goldberg
Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera. Auton. Robots 24 (4) (2008)
Mike Tao Zhang, Kenneth Y. Goldberg
Designing robot grippers: optimal edge contacts for part alignment. Robotica 25 (3) (2007)
Ron Alterovitz, Thierry Siméon, Kenneth Y. Goldberg
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty. Robotics: Science and Systems (2007)
Jae-Sook Cheong, A. Frank van der Stappen, Kenneth Y. Goldberg, Mark H. Overmars, Elon Rimon
Immobilizing Hinged Polygons. Int. J. Comput. Geom. Appl. 17 (1) (2007)
Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, Kenneth Y. Goldberg
Respectful cameras: detecting visual markers in real-time to address privacy concerns. IROS (2007)
Dezhen Song, Kenneth Y. Goldberg
Approximate Algorithms for a Collaboratively Controlled Robotic Camera. IEEE Trans. Robotics 23 (5) (2007)
Tavi Nathanson, Ephrat Bitton, Kenneth Y. Goldberg
Eigentaste 5.0: constant-time adaptability in a recommender system using item clustering. RecSys (2007)
Dezhen Song, A. Frank van der Stappen, Kenneth Y. Goldberg
Exact algorithms for single frame selection on multiaxis Satellites. IEEE Trans Autom. Sci. Eng. 3 (1) (2006)
Kenneth Y. Goldberg
Amplifying research. IEEE Robotics Autom. Mag. 13 (2) (2006)
Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg
Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering. WAFR (2006)
Kenneth Y. Goldberg
Sensitivity analysis: unexpected outcomes in art and engineering. ACM Multimedia (2006)
Onno C. Goemans, Kenneth Y. Goldberg, A. Frank van der Stappen
Blades: a New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks. ICRA (2006)
Ni Qin, Dezhen Song, Kenneth Y. Goldberg
Aligning Windows of Live Video From an Imprecise Pan-tilt-zoom Robotic Camera into a Remote Panoramic Display. ICRA (2006)
Dezhen Song, Ni Qin, Kenneth Y. Goldberg
A Minimum Variance Calibration Algorithm for Pan-tilt Robotic Cameras in Natural Environments. ICRA (2006)
Mike Tao Zhang, Kenneth Y. Goldberg
Fixture-based industrial robot calibration for silicon wafer handling. Ind. Robot 32 (1) (2005)
Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura
Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. ICRA (2005)
Dezhen Song, Kenneth Y. Goldberg
Networked Robotic Cameras for Collaborative Observation of Natural Environments. ISRR (2005)
K. Gopalakrishnan, Kenneth Y. Goldberg
D-space and Deform Closure Grasps of Deformable Parts. Int. J. Robotics Res. 24 (11) (2005)
Ron Alterovitz, Andrew E. B. Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura
Steering flexible needles under Markov motion uncertainty. IROS (2005)
Dezhen Song, A. Frank van der Stappen, Kenneth Y. Goldberg
An Exact Algorithm Optimizing Coverage-resolution for Automated Satellite Frame Selection. ICRA (2004)
Kenneth Y. Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, Dana Plautz
Unsupervised Scoring for Scalable Internet-based Collaborative Teleoperation. ICRA (2004)
Kanakasabapathi Gopalakrishnan, Kenneth Y. Goldberg, Gary M. Bone, Matthew Zaluzec, Rama Koganti, Rich Pearson, Patricia Deneszczuk
Unilateral fixtures for sheet-metal parts with holes. IEEE Trans Autom. Sci. Eng. 1 (2) (2004)
Michael Yu Wang, Edward C. DeMeter, Shreyes N. Melkote, Kenneth Y. Goldberg, Zexiang Li
Guest Editorial. IEEE Trans Autom. Sci. Eng. 1 (2) (2004)
Peter B. Luh, Kenneth Y. Goldberg, Richard A. Volz
Editorial. IEEE Trans Autom. Sci. Eng. 1 (1) (2004)
K. Gopalakrishnan, Kenneth Y. Goldberg
D-space and Deform Closure: a Framework for Holding Deformable Parts. ICRA (2004)
Kenneth Y. Goldberg, Seth Hutchinson, Jean-Daniel Boissonnat, Joel W. Burdick
Special Issue on WAFR 2002. Int. J. Robotics Res. 23 (7-8) (2004)
Dezhen Song, Kenneth Y. Goldberg
The co-opticon: shared access to a robotic streaming video camera. ACM Multimedia (2003)
Sariel Har-Peled, Vladlen Koltun, Dezhen Song, Kenneth Y. Goldberg
Efficient algorithms for shared camera control. SCG (2003)
Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu
Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis. ICRA (2003)
Wolfram Burgard, Gerard T. McKee, Kenneth Y. Goldberg
Guest Editorial: Special Issue on Internet and Online Robots. Auton. Robots 15 (3) (2003)
K. Gopalakrishnan, Matthew Zaluzec, Rama Koganti, Patricia Deneszczuk, Kenneth Y. Goldberg
"Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts. ICRA (2003)
Kenneth Y. Goldberg, Dezhen Song, Yoek-Nam Khor, David Pescovitz, Anthony Levandowski, Jesse C. Himmelstein, Janice Shih, Annamarie Ho, Eric Paulos, Judith S. Donath
Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human "Tele-Actor". ICRA (2002)
Jae-Sook Cheong, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen
Fixturing Hinged Polygons. ICRA (2002)
Dan Halperin, Micha Sharir, Kenneth Y. Goldberg
The 2-Center Problem with Obstacles. J. Algorithms 42 (1) (2002)
Mike Tao Zhang, Kenneth Y. Goldberg
Gripper point contacts for part alignment. IEEE Trans. Robotics Autom. 18 (6) (2002)
K. Gopalakrishnan, Kenneth Y. Goldberg
Gripping Parts at Concave Vertices. ICRA (2002)
Mark Moll, Kenneth Y. Goldberg, Michael A. Erdmann, Ronald S. Fearing
Orienting Micro-Scale Parts with Squeeze and Roll Primitives. ICRA (2002)
Kenneth Y. Goldberg, Theresa Roeder, Dhruv Gupta, Chris Perkins
Eigentaste: A Constant Time Collaborative Filtering Algorithm. Inf. Retr. 4 (2) (2001)
Mike Tao Zhang, Kenneth Y. Goldberg, Gordon Smith, Robert-Paul Berretty, Mark H. Overmars
Pin design for part feeding. Robotica 19 (6) (2001)
Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen
Orienting Parts by Inside-out Pulling. ICRA (2001)
Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen
Trap Design for Vibratory Bowl Feeders. Int. J. Robotics Res. 20 (11) (2001)
Mike Tao Zhang, Kenneth Y. Goldberg
Design of Robot Gripper Jaws based on Trapezoidal Modules. ICRA (2001)
Dan Halperin, Micha Sharir, Kenneth Y. Goldberg
The 2-center problem with obstacles. SCG (2000)
Kenneth Y. Goldberg, Steve Gentner, Carl Sutter, Jeff Wiegley
The Mercury Project: a feasibility study for Internet robots. IEEE Robotics Autom. Mag. 7 (1) (2000)
Karl-Friedrich Böhringer, Vivek Bhatt, Bruce Randall Donald, Kenneth Y. Goldberg
Algorithms for Sensorless Manipulation Using a Vibrating Surface. Algorithmica 26 (3-4) (2000)
Kenneth Y. Goldberg, Billy Chen, Rory Solomon, Steve Bui, Bobak Farzin, Jacob Heitler, Derek Poon, Gordon Smith
Collaborative Teleoperation via the Internet. ICRA (2000)
Mike Tao Zhang, Gordon Smith, Robert-Paul Berretty, Mark H. Overmars, Kenneth Y. Goldberg
The Toppling Graph: Designing Pin Sequences for Part Feeding. ICRA (2000)
A. Frank van der Stappen, Kenneth Y. Goldberg
Geometric Eccentricity and the Complexity of Manipulation Plans. Algorithmica 26 (3-4) (2000)
A. Frank van der Stappen, Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars
Geometry and Part Feeding. Sensor Based Intelligent Robots (2000)
Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen
Geometric Algorithms for Trap Design. SCG (1999)
Gordon Smith, Eric Lee, Kenneth Y. Goldberg, Karl-Friedrich Böhringer, John Craig
Computing Parallel-Jaw Grips. ICRA (1999)
Robert-Paul Berretty, Kenneth Y. Goldberg, Lawrence Cheung, Mark H. Overmars, Gordon Smith, A. Frank van der Stappen
Trap Design for Vibratory Bowl Feeders. ICRA (1999)
Dhruv Gupta, Mark Digiovanni, Hiro Narita, Kenneth Y. Goldberg
Jester 2.0: Collaborative Filtering to Retrieve Jokes (demonstration abstract). SIGIR (1999)
Dhruv Gupta, Mark Digiovanni, Hiro Narita, Kenneth Y. Goldberg
Jester 2.0: Evaluation of an New Linear Time Collaborative Filtering Algorithm (poster abstract). SIGIR (1999)
Karl-Friedrich Böhringer, Kenneth Y. Goldberg, Michael Cohn, Roger Howe, Al Pisano
Parallel Microassembly with Electrostatic Force Fields. ICRA (1998)
Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen
Computing fence designs for orienting parts. Comput. Geom. 10 (4) (1998)
Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen
On Fence Design and the Complexity of Push Plans for Orienting Parts. SCG (1997)
Eric Paulos, John F. Canny, Eduardo Kac, Kenneth Y. Goldberg, Mark Pauline
Interfacing reality: exploring emerging trends between humans and machines (panel). SIGGRAPH (1997)
Rick Wagner, Giuseppe Castanotto, Kenneth Y. Goldberg
FixtureNet: interactive computer-aided design via the World Wide Web. Int. J. Hum. Comput. Stud. 46 (6) (1997)
Yan Zhuang, Kenneth Y. Goldberg
On the Existence of Solutions in Modular Fixturing. Int. J. Robotics Res. 15 (6) (1996)
Kenneth Y. Goldberg, Hadi Moradi
Compiling assembly plans into hard automation. ICRA (1996)

Kenneth Y. Goldberg.css-eqlu8i{font-size:small;padding-left:4px;}

Publication Activity (10 Years)

Top Topics

Top Venues

Kenneth Y. Goldberg