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Ken Goldberg
Results: 129

#	Item
21	Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel Abstract— 3D curvature-constrained motion plann Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2014-02-16 20:56:08 Mathematical optimization Mathematical analysis Engineering Operations research Mechanics Aerodynamics Aerospace engineering Ballistics Trajectory optimization Motion planning Kinematics Collision detection
22	Initial Experiments toward Automated Robotic Implantation of Skew-Line Needle Arrangements for HDR Brachytherapy Animesh Garg, Timmy Siauw, Dmitry Berenson, Adam Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Gold Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2012-08-23 11:46:45 Medicine Medical physics Radiation therapy Clinical medicine Prostate brachytherapy Brachytherapy Prostate cancer Radiation treatment planning
23	Steering Flexible Needles Under Markov Motion Uncertainty∗ Ron Alterovitz and Andrew Lim Gregory S. Chirikjian and Allison M. Okamura Ken Goldberg Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2005-05-23 04:14:27 Mathematics Physics Motion planning Theoretical computer science Nonholonomic system Needle Curvature
24	Multi-Armed Bandit Models for 2D Grasp Planning with Uncertainty Michael Laskey1 , Jeff Mahler1 , Zoe McCarthy1 , Florian T. Pokorny1 , Sachin Patil1 , Jur van den Berg4 , Danica Kragic3 , Pieter Abbeel1 , Ken Goldberg2 Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2015-08-31 02:12:22 Statistics Probability Child development Grasp Reinforcement learning Gittins index Gaussian process Sensitivity analysis Monte Carlo integration Probability distribution Monte Carlo method Sampling
25	Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths Kris Hauser∗ , Ron Alterovitz† , Nuttapong Chentanez∗ , Allison Okamura‡ , and Ken Goldberg∗ ∗ IEOR and EECS Departments Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2009-05-24 09:59:10 Mechanical engineering Mechanics Physics Kinematics Helix Needle Trajectory Screw theory
26	Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning Rik Jansen∗ , Kris Hauser† , Nuttapong Chentanez† , Frank van der Stappen∗ , Ken Goldberg† ∗ Department of Add to Reading List Source URL: goldberg.berkeley.edu Language: English Continuum mechanics Mechanics Physics Finite element method Soft tissue Retract Deformation
27	Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles∗ Ron Alterovitz Ken Goldberg Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2005-01-25 22:10:58 Surgical procedures Biopsy Motion planning Theoretical computer science Needle Prostate cancer Transurethral needle ablation of the prostate
28	High-Dimensional Winding-Augmented Motion Planning with 2D Topological Task Projections and Persistent Homology Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg Abstract— Recent progress in motion plan Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2016-02-17 11:01:40 Topology Mathematics Homotopy theory Algebraic topology Fundamental group Homotopy Cohomology Topological space Winding number Homology Retract Covering space
29	Automating Multi-Throw Multilateral Surgical Suturing with a Mechanical Needle Guide and Sequential Convex Optimization Siddarth Sen1 , Animesh Garg2 , David V. Gealy3 , Stephen McKinley3 , Yiming Jen1 , Ken Goldberg2 Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2016-02-18 11:22:12 Injuries First aid Surgical suture Trauma surgery Traumatology Medical equipment Needle holder Needle Port
30	Motion Planning For Steerable Needles in 3D Environments with Obstacles Using Rapidly-Exploring Random Trees and Backchaining Jijie Xu1 , Vincent Duindam2, Ron Alterovitz1,3 , and Ken Goldberg1,2 1. Department of IEOR, U Add to Reading List Source URL: goldberg.berkeley.edu Language: English - Date: 2008-07-03 19:37:35 Search algorithms Robot kinematics Robot navigation Robot control Rapidly-exploring random tree Motion planning Kinodynamic planning Linear programming Nonholonomic system Nearest neighbor search

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