Ken Goldberg, Professor
IEOR and EECS and School of Information, UC Berkeley (and UCSF) 425 Sutardja Dai Hall, Berkeley, CA 94720-1758 (510) 643-9565 (phone), (510) 642-1403 (fax) [email protected], http://goldberg.berkeley.edu
Professional Preparation 1984: University of Pennsylvania, Philadelphia, PA. BSE in EE and Economics. 1986: Israel Institute of Technology (Technion), Haifa, Israel. Visiting Researcher. 1990: Carnegie Mellon University, Pittsburgh, PA. School of Computer Science. Dissertation: Stochastic Plans for Robotic Manipulation. MS, PhD.
Appointments 2011-present, Professor of Radiation Oncology, UC San Francisco Medical School. 2009-present. craigslist Distinguished Professor of New Media, UC Berkeley. 2002-present : University of California, Berkeley, CA. Professor. Industrial Engineering and Operations Research (IEOR) and Electrical Engineering and Computer Science (EECS) in College of Engineering with joint appointment in the School of Information. 1995-July 2002 : University of California, Berkeley, CA. Associate Professor. 1991-95: University of Southern California, LA, CA. Assistant Professor, Computer Science.
Awards 2011, IEEE Award. for "Distinguished Service and Innovation as Vice-President of Technical Activities and Co-Founder of the Transactions on Automation Science and Engineering." Robotics and Automation Society. 2010, Best Medical Robotics Paper. IEEE International Conference on Robotics and Automation. 2008, Plenary Speaker. AAAI Spring Symposium on Creative Intelligent Systems. 2007, Plenary Speaker. IEEE International Conference on Robotics and Automation. 2005, Elected IEEE Fellow.
5 Publications Related to Proposal
1. Motion Planning in Medicine: Optimization and Simulation Algorithms for Image- Guided Procedures. Monograph. Ron Alterovitz and Ken Goldberg. Springer. Springer Tracts in Advanced Robotics Vol 50. August 2008. 2. Robot-Assisted Needle Steering. Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Noah J. Cowan, and Allison M. Okamura. IEEE Robotics and Automation Magazine. V18:4, pp 35-46. December 2011. 3. EG-RRT: Environment-Guided Random Trees for Kinodynamic Motino Planning with Uncertainty and Obstacles. Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep M. Porta, Ken Goldberg. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011. 4. IPIP: A New Approach to Inverse Planning for HDR Brachytherapy by Directly Optimizing Dosimetric Indices. Timmy Siauw, J. Adam M. Cunha, Alper Atamturk, I- Chow Hsu, Jean Pouliot, and Ken Goldberg. Medical Physics. Vol. 38 (7). July 2011. 5. LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Jur van den Berg, Pieter Abbeel, Ken Goldberg. International Journal of Robotics Research.Vol. 30 (6). June 2011.
5 Other Publications
1. Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations. Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg, Pieter Abbeel. IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AL. May 2010. Recipient of Best Medical Robotics Paper Award. 2. Planning "Fireworks" Trajectories for Steerable Needles to Reduce Patient Trauma. Jijie Xu, Vincent Duindam, Ron Alterovitz, Adam Cunha, Jean Pouliot, I-Chow Joe Hsu, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. 3. 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. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. 4. Interactive Simulation of Surgical Needle Insertion and Steering. Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris Hauser, Ken Goldberg, Jonathon Shewchuk, James O'Brien.Proceedings of ACM SIGGRAPH , Annual Conference Series. (New Orleans, Louisiana), Aug. 2009. 5. Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissue. Ron Alterovitz, Ken Goldberg, Jean Pouliot, and I-Chow Hsu. IEEE Transactions on Information Technology in Biomedicine. Vol. 13(2), 217-225. March 2009
Synergistic Activities
1. 2011-present, Editor-in-Chief and Co-founder (2004): IEEE Transactions on Automation Science and Engineering (T-ASE). 2. 2002- present, Editorial Advisory Board. Springer-Verlag: Advanced Robotics Book Series. 3. 2007-present, Editorial Advisory Board, IEEE Spectrum Magazine. 4. 2011-present, Editorial Advisory Board, Medical and Bio-Medical Robotic Devices for ASME Press Book Series on Robotics Engineering.
Collaborators Within Past 48 Months Pieter Abbeel, James O’Brien, Trevor Darrell, Alper Atamturk, Shankar Sastry, UCB; M. Cenk Cavusoglu, Wyatt Newman, Michael Branicky, CASE Western; Allison Okamura, Stanford University; Greg Chirikjian, Noah Cowan, Johns Hopkins; University; Dan Halperin, Tel Aviv University; I-Chow Hsu, Jean Pouliot; UCSF; Frank van der Stappen, Utrecht University;
Phd and Postgraduate Students Dmitry Berenson (UC Berkeley); Jur van den Berg (Utah); Ron Alterovitz, (UNC); Dezhen Song (Texas A&M), Karl Bohringer, U of Washington; K. Gopal Gopalakrishnan, Intel; Dezhen Song, Texas A&M; Rick Wagner, TRW Corp; Jeff Wiegley, Cal State Northridge; Kyeonah Yu, Korea Technical Univ.; Jijie Xu, U. Rochester, Mike Tao Zhang, Intel.
PhD Advisor: Matt Mason, CMU