The Design and Implementation of laffer1

Protocol version 2 SSH uses this:
ssh-keygen -t dsa

(rsa is for version 1)

Then put the contents of .pub file on the server you want in the .ssh dir in the home directory. so ~/.ssh/authorized_keys2

Now you can use ssh keys. If you don't use a password when you generate the key, you won't need to type it anymore. There is a security risk if someone gets a copy of your pub file or worse yet gets physical access to your computer. There's also a ssh-agent that you can setup to work around this problem and still maintain security.

See IBM article here: http://www-128.ibm.com/developerworks/library/l-keyc.html