Faculty Publications - Ken Goldberg

Books

• J. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson, Algorithmic Foundations of Robotics V, Springer Tracts in Advanced Robotics; v. 7, Berlin; New York: Springer, 2004.
• K. Goldberg and R. Siegwart, Eds., Beyond Webcams: An Introduction to Online Robots, Cambridge, MA: MIT Press, 2002.
• K. Goldberg, Ed., The Robot in the Garden: Telerobotics and Telepistemology in the Age of the Internet, Cambridge, MA: MIT Press, 2000.
• K. Goldberg, D. Halperin, J. Latombe, and R. Wilson, Eds., Algorithmic Foundations of Robotics, Wellesley, MA: A K Peters, Ltd., 1995.
• G. A. Bekey and K. Goldberg, Eds., Neural Networks in Robotics, Boston: Kluwer Academic, 1993.

Book chapters or sections

• D. Song and K. Goldberg, "Networked robotic cameras for collaborative observation of natural environments," in Robotics Research: Proc. 12th Intl. Symp. on Robotics Research (ISRR 2005), S. Thrun, R. Brooks, and H. Durrant-Whyte, Eds., Springer Tracts in Advanced Robotics, Vol. 28, Berlin, Germany: Springer-Verlag, 2007, pp. 510-519.
• K. Gopalakrishnan and K. Goldberg, "Computing deform closure grasps," in Algorithmic Foundations of Robotics VI: Proc. 6th Intl. Workshop on Algorithmic Foundations of Robotics (WAFR 2004), M. Erdmann, D. Hsu, M. Overmars, and A. F. van der Stappen, Eds., Springer Tracts in Advanced Robotics, Vol. 17, Berlin, Germany: Springer-Verlag, 2005, pp. 203-218.

Articles in journals or magazines

• D. Song, N. Qin, and K. Goldberg, "Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera," Autonomous Robots, vol. 24, no. 4, pp. 435-449, May 2008.
• D. Song and K. Goldberg, "Approximate algorithms for a collaboratively controlled robotic camera," IEEE Trans. on Robotics, vol. 23, no. 5, pp. 1061-1070, Oct. 2007.
• M. T. Zhang and K. Goldberg, "Designing robot grippers: Optimal edge contacts for part alignment," Robotica, vol. 25, no. 3, pp. 341-349, May 2007.
• D. Gudmundsson and K. Goldberg, "Optimizing robotic part feeder throughput with queueing theory," Assembly Automation, vol. 27, no. 2, pp. 134-140, April 2007.
• J. S. Cheong, A. F. van der Stappen, K. Goldberg, M. H. Overmars, and E. Rimon, "Immobilizing hinged polygons," Intl. J. Computational Geometry & Applications, vol. 17, no. 1, pp. 45-70, Feb. 2007.
• R. Alterovitz, E. Lessard, J. Pouliot, I. J. Hsu, J. O'Brien, and K. Goldberg, "Optimization of HDR brachytherapy dose distributions using linear programming with penalty costs," Medical Physics, vol. 33, no. 11, pp. 4012-4019, Nov. 2006.
• R. Alterovitz, E. Lessard, J. Pouliot, I. J. Hsu, J. O'Brien, and K. Goldberg, "Optimization of HDR Brachytherapy Dose Distributions using Linear Programming with Penalty Costs," Journal of Medical Physics, vol. 33, no. 4012-4019, Nov. 2006.
• O. C. Goemans, K. Goldberg, and A. F. van der Stappen, "Blades for feeding 3D parts on vibratory tracks," Assembly Automation, vol. 26, no. 3, pp. 221-226, July 2006.
• R. Alterovitz, K. Goldberg, J. Pouliot, I. C. J. Hsu, Y. Kim, S. M. Noworolski, and J. Kurhanewicz, "Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation," Medical Physics, vol. 33, no. 2, pp. 446-454, Feb. 2006.
• D. Song, A. F. van der Stappen, and K. Goldberg, "Exact algorithms for single frame selection on multiaxis satellites," IEEE Trans. Automation Science and Engineering, vol. 3, no. 1, pp. 16-28, Jan. 2006.
• K. Gopalakrishnan and K. Goldberg, "D-space and deform closure grasps of deformable parts," Intl. J. Robotics Research, vol. 24, no. 11, pp. 899-910, Nov. 2005.
• M. T. Zhang and K. Goldberg, "Fixture-based industrial robot calibration for silicon wafer handling," Industrial Robot: An Intl. J., vol. 32, no. 1, pp. 43-48, Jan. 2005.
• K. Gopalakrishnan, K. Goldberg, G. M. Bone, M. J. Zaluzec, R. Koganti, R. Pearson, and P. A. Deneszczuk, "Recipient, T-ASE Best Journal Paper of 2004 Award: Unilateral fixtures for sheet metal parts with holes," IEEE Trans. Automation Science and Engineering, vol. 1, no. 2, pp. 110-120, Oct. 2004.
• K. Gopalakrishnan, K. Goldberg, G. M. Bone, M. J. Zaluzec, R. Koganti, R. Pearson, and P. A. Deneszczuk, "Recipient, Trans. ASE Best Journal Paper of 2004 Award: Unilateral fixtures for sheet-metal parts with holes," IEEE Trans. Automation Science and Engineering, vol. 1, no. 2, pp. 110-120, Oct. 2004.
• M. T. Zhang and K. Goldberg, "A computer-aided design tool in Java for planar gripper design," J. Computing and Information Science in Engineering, vol. 4, no. 1, pp. 43-48, March 2004.
• K. Goldberg, D. Song, and A. Levandowski, "Invited Paper: Collaborative teleoperation using networked spatial dynamic voting," Proc. IEEE: Special Issue on Networked Robots, vol. 91, no. 3, pp. 430-439, March 2003.
• K. Goldberg, D. Song, and A. Levandowski, "Collaborative teleoperation using networked spatial dynamic voting," Proc. IEEE, vol. 91, no. 3, pp. 430-439, March 2003.
• K. Goldberg, A. Pashkevich, and D. Song, "Geometrical calibration of robotic web cameras," Trans. Belarusian Engineering Academy, vol. 1(15), no. 1, pp. 12-14, Jan. 2003.
• M. T. Zhang and K. Goldberg, "Gripper point contacts for part alignment," IEEE Trans. Robotics and Automations, vol. 18, no. 6, pp. 902-910, Dec. 2002.
• J. Chen, K. Goldberg, M. H. Overmars, D. Halperin, K. F. bohringer, and Y. Zhuang, "Computing tolerance parameters for fixturing and feeding," Assembly Automation, vol. 22, no. 2, pp. 163-172, May 2002.
• M. Moll, K. Goldberg, M. A. Erdmann, and R. S. Fearing, "Aligning parts for micro assemblies," Assembly Automation: Special Issue on Actuators and Micro Assembly, vol. 22, no. 1, pp. 46-54, Feb. 2002.
• D. Halperin, M. Sharir, and K. Goldberg, "The 2-center problem with obstacles," J. Algorithms, vol. 42, no. 1, pp. 109-134, Jan. 2002.
• R. P. Berretty, K. Goldberg, M. H. Overmars, and A. F. van der Stappen, "Trap design for vibratory bowl feeders," The Intl. J. Robotics Research, vol. 20, no. 11, pp. 891-908, Nov. 2001.
• M. T. Zhang, K. Goldberg, G. Smith, R. P. Beretty, and M. Overmars, "Pin design for part feeding," Robotica, vol. 19, no. 6, pp. 695-702, Sep. 2001.
• K. Goldberg, T. Roeder, D. Gupta, and C. Perkins, "Eigentaste: A constant-time collaborative filtering algorithm," Information Retrieval, vol. 4, no. 2, pp. 133-151, July 2001.
• K. F. Bohringer, V. Bhatt, B. R. Donald, and K. Goldberg, "Algorithms for sensorless manipulation using a vibrating surface," Algorithmica, vol. 26, no. 3-4, pp. 389-429, April 2000.
• A. F. van der Stappen, K. Goldberg, and M. H. Overmars, "Geometric eccentricity and the complexity of manipulation plans," Algorithmica, vol. 26, no. 3-4, pp. 494-514, April 2000.
• K. Goldberg, B. V. Mirtich, Y. Zhuang, J. Craig, B. R. Carlisle, and J. F. Canny, "Part pose statistics: Estimators and experiments," IEEE Trans. Robotics and Automation, vol. 15, no. 5, pp. 849-857, Oct. 1999.

Articles in conference proceedings

• J. Schiff, M. Meingast, D. K. Mulligan, S. S. Sastry, and K. Goldberg, "Respectful cameras: Detecting visual markers in real-time to address privacy concerns," in Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2007), Piscataway, NJ: IEEE Press, 2007, pp. 971-978.
• O. C. Goemans, M. T. Anderson, K. Goldberg, and A. F. van der Stappen, "Automated feeding of industrial parts with modular blades: Design software, physical experiments, and an improved algorithm," in Proc. 3rd IEEE Intl. Conf. on Automation Science and Engineering (CASE '07), Piscataway, NJ: IEEE Press, 2007, pp. 318-325.
• M. Fogel, N. Burkhart, H. Ren, J. Schiff, M. Meng, and K. Goldberg, "Automated tracking of pallets in warehouses: Beacon layout and asymmetric ultrasound observation models," in Proc. 3rd IEEE Intl. Conf. on Automation Science and Engineering (CASE '07), Piscataway, NJ: IEEE Press, 2007, pp. 678-685.
• R. Alterovitz, T. Simeon, and K. Goldberg, "The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty," in Proc. Robotics: Science and Systems III (RSS 2007), Cambridge, MA: MIT Press, 2007, pp. 8 pg.
• J. Schiff and K. Goldberg, "Automated intruder tracking using particle filtering and a network of binary motion sensors," in Proc. 2nd IEEE Intl. Conf. on Automation Science and Engineering (CASE '06), Piscataway, NJ: IEEE Press, 2006, pp. 580-587.
• N. Qin, D. Song, and K. Goldberg, "Aligning windows of live video from an imprecise pan-tilt-zoom robotic camera into a remote panoramic display," in proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 3429-3436.
• D. Song, N. Qin, and K. Goldberg, "A minimum variance calibration algorithm for pan-tilt robotic cameras in natural environments," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 3449-3456.
• O. C. Goemans, K. Goldberg, and A. F. van der Stappen, "Blades: A new class of geometric primitives for feeding 3D parts on vibratory tracks," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 1730-1736.
• P. Cudre-Mauroux, M. Fogel, K. Goldberg, and M. Franklin, ""Sentry pallets" for automated monitoring of spatial constraints: Models and initial experiments (Poster)," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 4396-4398.
• O. C. Goemans, A. Levandowski, K. Goldberg, and A. F. van der Stappen, "On the design of guillotine traps for vibratory bowl feeders," in Proc. 1st Intl. Conf. on Automation Science and Engineering (ICASE '05), N. Viswanadham and M. Y. Wang, Eds., Piscataway, NJ: IEEE Press, 2005, pp. 79-86.
• D. Song, Q. Hu, N. Qin, and K. Goldberg, "Automating inspection and documentation of remote building construction using a robotic camera," in Proc. 1st Intl. Conf. on Automation Science and Engineering (ICASE '05), N. Viswanadham and M. Y. Wang, Eds., Piscataway, NJ: IEEE Press, 2005, pp. 172-177.
• R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura, "Steering flexible needles under Markov motion uncertainty," in Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2005), Piscataway, NJ: IEEE Press, 2005, pp. 1570-1575.
• R. Alterovitz, K. Goldberg, and A. Okamura, "Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles," in Proc. 2005 IEEE Intl. Conf. on Robotics and Automation (ICRA '05), Piscataway, NJ: IEEE Press, 2005, pp. 1640-1645.
• R. Alterovitz, K. Goldberg, J. Kurhanewicz, J. Pouliot, and I. C. Hsu, "Image registration for prostate MR spectroscopy using biomechanical modeling and optimization of force and stiffness parameters," in Proc. 26th Annual Intl. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS '04), Piscataway, NJ: IEEE Press, 2004, pp. 1722-1725.
• K. Goldberg, D. Song, I. Y. Song, J. McGonigal, W. Zheng, and D. Plautz, "Unsupervised scoring for Scalable Internet-based Collaborative Teleoperation," in Proc. 2004 IEEE Intl. Conf. on Robotics and Automation, Vol. 5, Piscataway, NJ: IEEE Press, 2004, pp. 4551-4556.
• D. Song, A. F. van der Stappen, and K. Goldberg, "An exact algorithm optimizing coverage-resolution for automated satellite frame selection," in Proc. 2004 IEEE Intl. Conf. on Robotics and Automation (ICRA '04), Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 63-70.
• K. Gopalakrishnan and K. Goldberg, "Recipient, ICRA 2004 Best Manipulation Paper Award: D-space and deform closure: A framework for holding deformable parts," in Proc. 2004 IEEE Intl. Conf. on Robotics and Automation (ICRA '04), Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 345-350.
• D. Song and K. Goldberg, "The co-opticon: Shared access to a robotic streaming video camera (Demonstration)," in Proc. 11th ACM Intl. Conf. on Multimedia (MULTIMEDIA '03), New York, NY: The Association for Computing Machinery, Inc., 2003, pp. 104-105.
• D. Song, A. Pashkevich, and K. Goldberg, "ShareCam Part II: Approximate and distributed algorithms for a collaboratively controlled robotic Webcam," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1087-1093.
• D. Song and K. Goldberg, "ShareCam Part I: Interface, system architecture, and implementation of a collaboratively controlled robotic Webcam," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1080-1086.
• R. Alterovitz, K. Goldberg, J. Pouliot, R. Taschereau, and I. C. Hsu, "Sensorless planning for medical needle insertion procedures," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 4, Piscataway, NJ: IEEE Press, 2003, pp. 3337-3343.
• K. Gopalakrishnan, M. Zaluzec, R. Koganti, P. Deneszczuk, and K. Goldberg, ""Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts," in Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03), Vol. 3, Piscataway, NJ: IEEE Press, 2003, pp. 3953-3958.
• R. Alterovitz, K. Goldberg, J. Pouliot, R. Taschereau, and I. C. Hsu, "Needle insertion and radioactive seed implantation in human tissues: Simulation and sensitivity analysis," in Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1793-1799.
• S. Har-Peled, V. Koltun, D. Song, and K. Goldberg, "Efficient algorithms for shared camera control," in Proc. 19th Annual Symp. on Computational Geometry, New York, NY: The Association for Computing Machinery, Inc., 2003, pp. 68-77.
• R. Alterovitz, J. Pouliot, R. Taschereau, I. C. J. Hsu, and K. Goldberg, "Simulating needle insertion and radioactive seed implantation for prostate brachytherapy," in Proc. 11th Annual Conf. on Medicine Meets Virtual Reality (MMVR11), J. D. Westwood, H. M. Hoffman, G. T. Mogel, R. Phillips, R. A. Robb, and D. Stredney, Eds., Studies in Health Technology and Informatics, Vol. 94, Amsterdam, The Netherlands: IOS Press, Inc., 2003, pp. 19-25.
• M. Moll, K. Goldberg, M. A. Erdmann, and R. S. Fearing, "Orienting micro-scale parts with squeeze and roll primitives," in Proc. 2002 IEEE Intl. Conf. on Robotics and Automation, Vol. 2, Piscataway, NJ: IEEE Press, 2002, pp. 1931-1936.

Technical Reports

• K. Goldberg, T. Roeder, D. Gupta, and C. Perkins, "Eigentaste: A Constant Time Collaborative Filtering Algorithm," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M00/41, 2000.

Patents

• R. J. Webster, III, A. M. Okamura, N. J. Cowan, G. Chirikjian, K. Y. Goldberg, and R. Alterovitz, "Distal bevel-tip needle control device and algorithm," U.S. Patent Application. May 2006.
• K. Y. Goldberg, "Apparatus and method for recommending to an individual selective information contained within a computer network," U.S. Patent 6,606,624. Aug. 2003.
• K. Y. Goldberg, J. Donath, E. J. Paulos, D. Pescovitz, K. Dobson, M. Lee, A. Levandowski, D. Song, D. Spiegel, and D. Tang, "Remote collaborative control and direction," U.S. Patent Application. April 2002.
• G. H. Kelly, K. Y. Goldberg, J. S. Gee, P. D. Levinson, and S. Fullam, "Television event marking system," U.S. Patent 5,907,322. May 1999.
• R. C. Brost, K. Y. Goldberg, J. Canny, and A. S. Wallack, "Processor and method for developing a set of admissible fixture designs for a workpiece," U.S. Patent 5,856,924. Jan. 1999.
• R. C. Brost, K. Y. Goldberg, A. S. Wallack, and J. Canny, "Processor and method for developing a set of admissible fixture designs for a workpiece," U.S. Patent 5,546,314. Aug. 1996.
• K. Y. Goldberg and M. L. Furst, "Low friction gripper," U.S. Patent 5,186,515. Feb. 1993.
• K. Y. Goldberg and M. L. Furst, "Low friction gripper," U.S. Patent 5,098,145. March 1992.