Peter K. Allen
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Peter K. Allencomputer-science Degrees
Computer Science
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Computer Science
Peter K. Allen's Degrees
- PhD Computer Science Stanford University
- Masters Computer Science Stanford University
- Bachelors Computer Science Stanford University
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(Suggest an Edit or Addition)Peter K. Allen's Published Works
Number of citations in a given year to any of this author's works
Total number of citations to an author for the works they published in a given year. This highlights publication of the most important work(s) by the author
Published Works
- Graspit! A versatile simulator for robotic grasping (2004) (1016)
- Automatic grasp planning using shape primitives (2003) (746)
- Automated tracking and grasping of a moving object with a robotic hand-eye system (1993) (513)
- A survey of sensor planning in computer vision (1995) (479)
- Hand Posture Subspaces for Dexterous Robotic Grasping (2009) (409)
- The Columbia grasp database (2009) (313)
- An SVM learning approach to robotic grasping (2004) (240)
- Shape completion enabled robotic grasping (2016) (234)
- Grasp Planning via Decomposition Trees (2007) (231)
- Dimensionality reduction for hand-independent dexterous robotic grasping (2007) (228)
- Examples of 3D grasp quality computations (1999) (223)
- 3-D model construction using range and image data (2000) (210)
- Localization methods for a mobile robot in urban environments (2004) (195)
- Geometry and Texture Recovery of Scenes of Large Scale (2002) (188)
- Pose error robust grasping from contact wrench space metrics (2012) (187)
- Real-time visual servoing (1991) (173)
- Acquisition and interpretation of 3-D sensor data from touch (1989) (170)
- Integrating Vision and Touch for Object Recognition Tasks (1988) (170)
- Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery (2013) (169)
- System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery (2009) (165)
- The MVP sensor planning system for robotic vision tasks (1995) (163)
- Active, uncalibrated visual servoing (1994) (161)
- Visual servoing by partitioning degrees of freedom (2001) (144)
- Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery (2010) (138)
- Real-time tracking meets online grasp planning (2001) (133)
- Stable grasping under pose uncertainty using tactile feedback (2014) (124)
- Data-driven grasping (2011) (119)
- Haptic object recognition using a multi-fingered dextrous hand (1989) (117)
- AVENUE: Automated site modeling in urban environments (2001) (111)
- Topological mobile robot localization using fast vision techniques (2002) (110)
- Dexterous Grasping via Eigengrasps : A Low-dimensional Approach to a High-complexity Problem (2007) (106)
- Automated sensor planning for robotic vision tasks (1991) (106)
- Object Recognition Using Vision and Touch (1985) (106)
- Generating multi-fingered robotic grasps via deep learning (2015) (99)
- Robotic Object Recognition Using Vision and Touch (1987) (99)
- Data-driven grasping with partial sensor data (2009) (98)
- Constraint-based sensor planning for scene modeling (1999) (98)
- Data acquisition and view planning for 3-D modeling tasks (2007) (98)
- Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks (2007) (97)
- Folding deformable objects using predictive simulation and trajectory optimization (2015) (95)
- 3-D modeling from range imagery: an incremental method with a planning component (1997) (89)
- Integration of range and image sensing for photo-realistic 3D modeling (2000) (89)
- Image-flow computation: An estimation-theoretic framework and a unified perspective (1992) (86)
- Automatic registration of 2-D with 3-D imagery in urban environments (2001) (86)
- Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting (2008) (85)
- New Methods for Digital Modeling of Historic Sites (2003) (85)
- From robotic hands to human hands: a visualization and simulation engine for grasping research (2005) (82)
- Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task (2012) (82)
- Alignment using an uncalibrated camera system (1995) (81)
- Blind grasping: Stable robotic grasping using tactile feedback and hand kinematics (2011) (81)
- GraspIt!: A Versatile Simulator for Grasp Analysis (2000) (78)
- Feature Classification for Tracking Articulated Surgical Tools (2012) (76)
- Integration of Vision , Force and Tactile Sensing for Grasping (1999) (76)
- Real-time pose estimation of deformable objects using a volumetric approach (2014) (71)
- 3D modeling of historic sites using range and image data (2003) (70)
- Trajectory filtering and prediction for automated tracking and grasping of a moving object (1992) (70)
- Dynamic sensor planning (1993) (69)
- Seeing into the past: creating a 3D modeling pipeline for archaeological visualization (2004) (67)
- Data-driven optimization for underactuated robotic hands (2010) (66)
- Learning grasp stability (2012) (65)
- Recognition of deformable object category and pose (2014) (65)
- Grasp analysis using deformable fingers (2005) (65)
- Forming complex dextrous manipulations from task primitives (1994) (62)
- Regrasping and unfolding of garments using predictive thin shell modeling (2015) (60)
- A highly-underactuated robotic hand with force and joint angle sensors (2011) (58)
- Computing Camera Viewpoints in an Active Robot Work Cell (1999) (55)
- Using tactile and visual sensing with a robotic hand (1997) (52)
- Multi-Modal Geometric Learning for Grasping and Manipulation (2018) (51)
- Analytical characterization of the feature detectability constraints of resolution, focus, and field-of-view for vision sensor planning (1994) (51)
- Automated model acquisition from range images with view planning (1997) (49)
- Shared autonomy in a robot hand teleoperation system (1994) (49)
- Interactive sensor planning (1998) (46)
- Appearance learning for 3D tracking of robotic surgical tools (2014) (46)
- Insertable stereoscopic 3D surgical imaging device with pan and tilt (2008) (44)
- Registering, integrating, and building CAD models from range data (1998) (42)
- Real-time motion tracking using spatio-temporal filters (1989) (42)
- Robot learning of everyday object manipulations via human demonstration (2010) (42)
- Semantic grasping: planning task-specific stable robotic grasps (2014) (39)
- Hand-Eye Coordination for Robotic Tracking and Grasping (1993) (37)
- Grasp adjustment on novel objects using tactile experience from similar local geometry (2013) (36)
- Visual control of grasping and manipulation tasks (1994) (36)
- Design of a partitioned visual feedback controller (1998) (36)
- MAT: Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning (2019) (36)
- Mapping haptic exploratory procedures to multiple shape representations (1990) (36)
- In-vivo stereoscopic imaging system with 5 degrees-of-freedom for minimal access surgery. (2004) (35)
- Autotagging to improve text search for 3d models (2008) (34)
- Visually-guided protein crystal manipulation using micromachined silicon tools (2004) (34)
- Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery (2013) (34)
- On-Line Interactive Dexterous Grasping (2008) (33)
- A design and analysis tool for underactuated compliant hands (2009) (33)
- Multi-sensor surface analysis for robotic ironing (2016) (33)
- 3{D Model Construction Using Range and Image Data (Submitted to CVPR 2000) (2000) (31)
- A constrained optimization framework for compliant underactuated grasping (2011) (31)
- Model-Driven Feedforward Prediction for Manipulation of Deformable Objects (2016) (30)
- Design, architecture and control of a mobile site-modeling robot (2000) (29)
- In-vivo pan/tilt endoscope with integrated light source (2007) (29)
- Computing swept volumes (2000) (29)
- Compliant manipulation with a dextrous robot hand (1993) (29)
- View planning and automated data acquisition for three‐dimensional modeling of complex sites (2009) (28)
- Initial trial of a stereoscopic, insertable, remotely controlled camera for minimal access surgery (2009) (27)
- Towards a design optimization method for reducing the mechanical complexity of underactuated robotic hands (2012) (26)
- Visual servoed micropositioning for protein manipulation tasks (2002) (26)
- View planning and automated data acquisition for three-dimensional modeling of complex sites (2009) (26)
- Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes (2019) (25)
- Generative Attention Learning: a “GenerAL” framework for high-performance multi-fingered grasping in clutter (2020) (25)
- Building Illumination Coherent 3D Models of Large-Scale Outdoor Scenes (2008) (24)
- Vision for mobile robot localization in urban environments (2002) (24)
- A learning algorithm for visual pose estimation of continuum robots (2011) (24)
- Marker-less Articulated Surgical Tool Detection (2012) (24)
- An online learning approach to in-vivo tracking using synergistic features (2010) (24)
- Articulated Surgical Tool Detection Using Virtually-Rendered Templates (2012) (23)
- RoboBench: Towards sustainable robotics system benchmarking (2016) (23)
- Sensing and describing 3-D structure (1986) (23)
- Learning-based configuration estimation of a multi-segment continuum robot (2012) (21)
- Capture, learning, and classification of upper extremity movement primitives in healthy controls and stroke patients (2017) (20)
- A Shadow Based Method for Image to Model Registration (2004) (20)
- Biomimetic grasp planning for cortical control of a robotic hand (2008) (20)
- An integrated system for dextrous manipulation (1989) (19)
- Swept volumes and their use in viewpoint computation in robot work-cells (1995) (19)
- View Planning for Site Modeling (2000) (19)
- TopBot: automated network topology detection with a mobile robot (2003) (19)
- A robotic system for 3D model acquisition from multiple range images (1997) (17)
- Solid model acquistion from range imagery (1998) (17)
- View planning for automated site modeling (2006) (16)
- Computing camera viewpoints in a robot work-cell (1996) (16)
- Surgical Structured Light for 3D minimally invasive surgical imaging (2014) (15)
- Workspace Aware Online Grasp Planning (2018) (15)
- Integration of vision and force sensors for grasping (1996) (14)
- Relighting acquired models of outdoor scenes (2005) (13)
- Accelerated Robot Learning via Human Brain Signals (2019) (13)
- Planning complex physical tasks for disaster response with a humanoid robot (2013) (13)
- Learning features on robotic surgical tools (2012) (13)
- Dynamic Grasping with Reachability and Motion Awareness (2021) (13)
- Probability-driven motion planning for mobile robots (1994) (12)
- Assistive grasping with an augmented reality user interface (2017) (12)
- Modeling dynamic uncertainty in robot motions (1993) (12)
- Task level hierarchical system for BCI-enabled shared autonomy (2017) (12)
- Learning Your Way Without Map or Compass: Panoramic Target Driven Visual Navigation (2019) (12)
- Grasping with Your Brain: A Brain-Computer Interface for Fast Grasp Selection (2015) (12)
- A user interface for assistive grasping (2013) (11)
- Two Stage View Planning for Large-Scale Site Modeling (2006) (10)
- The Beauvais Cathedral Project (2003) (10)
- Grasp Planning Using Low Dimensional Subspaces (2014) (9)
- Functional analysis of finger contact locations during grasping (2009) (9)
- Space robotics in Japan (1994) (9)
- Comparison of Monoscopic Insertable, Remotely Controlled Imaging Device With a Standard Laparoscope in a Porcine Model (2008) (9)
- Fabrication of micromachined silicon tip transducer for tactile sensing (1993) (8)
- Integrating real-time vision and manipulation (1997) (8)
- Shadow based texture registration for 3D modeling of outdoor scenes (2007) (8)
- Automated streak-seeding with micromachined silicon tools. (2006) (8)
- Recovering Illumination and Texture Using Ratio Images (2006) (8)
- Performance of a partitioned visual feedback controller (1999) (8)
- Grasping with Your Face (2012) (7)
- Sensor planning in an active robotic work cell (1992) (7)
- SQUIRL: Robust and Efficient Learning from Video Demonstration of Long-Horizon Robotic Manipulation Tasks (2020) (7)
- SHREC’08 entry: Training set expansion via autotags (2008) (7)
- Tactile Experience-based Robotic Grasping (2012) (6)
- Microrobotic Streak Seeding For Protein Crystal Growth (2005) (5)
- Maximizing BCI Human Feedback using Active Learning (2020) (5)
- Computing Swept Volumes for Sensor Planning Tasks (1994) (5)
- Modeling Uncertainties In Robot Motions (1992) (5)
- Articulated Pose Estimation Using Hierarchical Exemplar-Based Models (2015) (5)
- Hand Posture Subspaces for Dexterous Robotic Grasping Hand Posture Subspaces for Dexterous Robotic Grasping (2009) (4)
- Visual-Tactile Geometric Reasoning (2010) (4)
- Automated Model Acquisition Using Volumes of Occlusion (1997) (4)
- Single muscle site sEMG interface for assistive grasping (2014) (4)
- CAD model acquisition using BSP trees (1995) (4)
- Visual control of grasping (1997) (4)
- Automating the 3 D Modeling Pipeline (2005) (3)
- Planning velocity profiles from task-level constraints and environment uncertainties (1993) (3)
- Integrating Sensory Data for Object Recognition Tasks (1986) (3)
- Mobile Manipulation Leveraging Multiple Views (2021) (3)
- Design, implementation and localization of a mobile robot for urban site modeling (2003) (3)
- Current research in robotics and automation-an intelligent grasping system (1989) (3)
- A Hybrid Approach to Topological Mobile Robot Localization (2005) (3)
- New methods and tools for three-dimensional modeling of large scale outdoor scenes using range and color images (2007) (3)
- Real-time teleop with non-prehensile manipulation (2014) (3)
- 3-D Vision (1987) (2)
- Overview of the MVP sensor planning system for robotic vision tasks (1992) (2)
- The Virtual Vision Lab: A Simulated/Real Environment for Interactive Education in Robot Vision (1996) (2)
- Advanced Visual Sensor Systems � (1998) (2)
- An Intelligent Grasping System (1989) (2)
- Promising Directions in Active Vision Eye-hand Coordination Sensors on a Manipulator Can Augment Vision with Integration with Robot Architectures Active Vision Research Should Be Con (2007) (2)
- Toward a Science of Autonomy for Physical Systems: Service (2016) (2)
- Object Recognition Using Active Tactile Sensing (1992) (2)
- Hand-eye coordination for grasping moving objects (1991) (2)
- Two-stage robotic crystal mounting of protein crystals for X-ray data collection (2008) (1)
- Design , Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port (2010) (1)
- Assistive visual tools for surgery (2013) (1)
- Integrating Vision and Touch (1987) (1)
- Image Understanding Research at Columbia University (1994) (1)
- CLAMGen: Closed-Loop Arm Motion Generation via Multi-view Vision-Based RL (2021) (1)
- National Science Foundation Workshop on Future Directions in Cyber-Physical Systems, Robotics, and Autonomy (2015) (1)
- Towards Sustainable Robotics System Benchmarking (2016) (1)
- APHRODITE : Intelligent Planning , Control and Sensing in a Distributed Robotic System (2008) (1)
- Experiments In Active Haptic Perception With The Utah-MIT Dextrous Hand (1992) (1)
- 2-D Vision (1987) (0)
- IMPLEMENTING DATA-DRIVEN MODELS OF THE HUMAN THUMB INTO A ROBOTIC GRASP SIMULATOR TO PREDICT GRASP STABILITY (2005) (0)
- Human Robot Interface for Assistive Grasping (2018) (0)
- GraspIt ! : A Versatile Dynamic Simulator for Robotic Grasping (2002) (0)
- Design Of A Low Cost Anthropomorphic Robot Hand For Industrial Applications (2009) (0)
- Joint-coupled compensation effects in visually servoed tracking (2000) (0)
- GraspPlanning viaDecomposition Trees (2007) (0)
- Streak Seeding Automation Using Silicon Tools CUCS-015-06 (2006) (0)
- Stable grasping under pose uncertainty using tactile feedback (2013) (0)
- CAD Model Acquisition using Binary Space Partitioning Trees (2007) (0)
- A Microrobotic System For Protein Streak Seeding ∗ CUCS-041-04 (2004) (0)
- Microrobotic Protein Crystal Mounting Under Visual Guidance (2005) (0)
- Issues in building intelligent grasping systems (1990) (0)
- Cooperative Integration Of Vision And Touch (1990) (0)
- Streak Seeding Automation Using Silicon Tools (2006) (0)
- Integrating new digital technology into the humanities: 3D modeling for archaeology, art history and urban planning (2008) (0)
- Research in Information Science & Technology: Machine Vision (1998) (0)
- Active sensing with a dextrous robotic hand (1990) (0)
- Brain Computer Interfaces for Enhanced Interaction with Mobile Robot Agents (2016) (0)
- Robotic Protein Crystal Streak Seeding Using Silicon Microtools (2004) (0)
- 3-D Modeling for Robotic Tactile Object Recognition (1989) (0)
- A Microrobotic System For Protein Streak Seeding (2004) (0)
- Haptic Perception with a Robot Hand: Requirements and Realization (1992) (0)
- Model Data Base (1987) (0)
- Image understanding and robotics research at Columbia University (1989) (0)
- Explorations In A Sensor Fusion Space (1989) (0)
- Intelligent Sensor-Based Manipulation with Robotic Hands (1998) (0)
- Strategies and Kinematics of Reach-to-Grasp Movements Botulinum Toxin to Treat Upper-Limb Spasticity in Hemiparetic Patients: Grasp (2010) (0)
- Methods and Approaches for Real-Time Hierarchical Motion Detection (1988) (0)
- Teleoperated Robot Grasping in Virtual Reality Spaces (2023) (0)
- Abstract—this Paper Presents the Task Specifications for Designing a Novel Insertable Robotic Effectors Platform (irep) with Integrated Stereo Vision and Surgical Intervention Tools for Single Port Access Surgery (spas). This Design Provides A (0)
- Semantic grasping: planning task-specific stable robotic grasps (2014) (0)
- Small Koronis-Family Asteroids as a Probe of Space Weathering (2008) (0)
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Peter K. Allen is affiliated with the following schools: