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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · 2d

Authors present a unified #ModelPredictiveControl framework for #humanoid balance, integrating ankle, hip, and stepping strategies, with variable angular momentum weighting, optimized step timing, and an HQP whole-body controller.
ieeexplore.ieee.org/document/109...

#LeggedLocomotion

Experimental results are presented for the robot's response to external forces applied along both the negative x- and y-directions.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · 2d

Authors propose a task‑driven co‑design framework that optimizes sensors, planners & compute under safety, cost, energy & weight constraints—demonstrated to show how task complexity affects autonomy stack choices
ieeexplore.ieee.org/document/109...

#RobotSensingSystem #AutonomousVehicle

Graphical illustration of the informal problem definition for designing an AV for urban driving tasks, based on a catalog of hardware and software components with an emphasis on minimizing resources.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · 9d

Authors propose STOCS, a novel algorithm that embeds contact point & timing selection into contact‑implicit trajectory optimization—dramatically improving planning speed and enabling complex contact-rich motions on high-fidelity 3D geometry.
ieeexplore.ieee.org/document/109...

#Robotics

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · 9d

Researchers propose a compact 6D suction cup model that reduces parameter count from 21 to just 5 via symmetry reduction, achieving ~5 mm and 3° accuracy and robust force estimation even at 60° gripper tilt.
ieeexplore.ieee.org/document/109...

#RobotSensingSystems #RobotManipulator

Example of a robotic bin-to-bin application where the deformation of an active bellow suction cup is clearly visible. Our proposed model allows to accurately predict this deformation enabling new robotic manipulation tasks. The particular shows the parts of a suction cup: 1) Fitting 2) Bellows 3) Lip.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · 16d

Introducing Hierarchical Diffusion Policy that guides robot manipulation with a two‑stage policy—first predicting optimal contact points in 3D, then generating trajectories to reach them via conditional diffusion.
ieeexplore.ieee.org/document/109...

#RobotManipulation #RobotTrajectory

Inference Process of Hierarchical Diffusion Policy. Compared to the Diffusion Policy that generates operation trajectories end-to-end, HDP introduces contact points, predicted by the Guider network or provided by humans, to guide the trajectory generation.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · 22d

Introducing an autonomous design algorithm that synthesizes self-aligning #KneeJoint mechanisms—no human input—adapts to diverse physiques, completes design in under an hour, and promises fast, scalable exoskeleton deployment.

#HumanCenteredRobotics

Prototyped mechanism synthesized for Case 3. Fabrication procedure of the prototype.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Sep 5

A call-for-papers for Foundation Models for Robotics special collection. T-RO is now accepting submissions through November 30.
www.ieee-ras.org/publications...

#FoundationModelsforRobotics #TactileSensing #RobotEmbodiments

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Aug 30

A fly‑inspired two-stage control policy enabling palm‑sized drones to perform dynamic inverted landings on ceilings. Trained via reinforcement learning in simulation (augmented optical‐flow+SVM+neural net)
ieeexplore.ieee.org/document/108...

#AerialSystems #BiologicallyInspiredRobots

Bioinspired inverted landing. An illustration comparing an example of inverted landing in a small quadcopter and a blue-bottle fly [10]. Both an at-scale and a scaled-up version of the landing sequence of the blue-bottle fly are shown.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Aug 28

Presenting a dynamic model‑based cooperative tracking control for both position and orientation of a tensegrity continuum robot’s end‑effector—achieving precise, cooperative movement via a dynamic model.
ieeexplore.ieee.org/abstract/doc...

#ContinuumRobots #RobotSensingSystems

Fabrication of the TCR. (a) Compliant tensegrity joint. (b) Assembly by the tensegrity joints. (c) Body structure of the TCR. (d) 3-D printing experimental prototype.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Aug 20

T-RO researchers present a novel rhythmic motion control strategy for robotic facial laser treatments by learning rhythmic, geometric-constrained trajectories from expert demonstrations.
ieeexplore.ieee.org/document/108...

#CosmeticDermatologyRobots #ServiceRobots #SkinCare

Snapshots of adaptation of the demonstrated treatment skill to other new faces that are not involved in the demonstration.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Aug 15

A transformer-based, coarse-to-fine #VisualLocalization pipeline that extracts stable, illumination-invariant descriptors for place recognition, achieves sub-meter global relocalization in under 0.5 s across 2 km and provides real-time tracking.
ieeexplore.ieee.org/document/108...

Tracking results of iLoc. This plot shows the localization results in our urban dataset. The yellow line represents the trajectory of the reference map, and the red line represents the tracking trajectory. iLoc will first localize itself in the reference map by proposed fast-seq matching to find the best match of the reference frame. In the tracking procedure, iLoc continuously matches the observed panorama with the local sliding window to find the best match.

IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Aug 15

AQUA‑SLAM, a tightly coupled acoustic‑visual‑inertial #SLAM system fusing DVL, stereo vision, and IMU within a graph‑based framework. With novel online calibration it achieves state‑of‑the‑art underwater localization, validated in North Sea trials.

ieeexplore.ieee.org/document/109...

Estimated trajectory () and dense 3-D reconstruction of an offshore structure using the proposed AQUA-SLAM algorithm. Images (a)–(d) show the challenging underwater conditions for a SLAM system using a camera.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 29

Authors introduce AVOCADO. The two-stage planner estimates other agents’ cooperation levels using nonlinear opinion dynamics, then adapts a Velocity-Obstacle policy for robust, communication-free crowd navigation

ieeexplore.ieee.org/document/109...

#CollisionAvoidance #RobotSensingSystem #Robotics

Cooperative circle (top) and crossing (bottom) scenarios with robots and planners. Each robot is depicted with a different color. Collisions are marked with crosses surrounded by circles.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 24

Check out the latest on the T-RO Visual SLAM special collection. Keep checking back as many more papers will be added to this collection in the coming months.

ieeexplore.ieee.org/xpl/topics-i...

#VisualSLAM #RobotLearning #GaussianSplatting

Our feature detection and matching on a challenging sequence in UMA-VI dataset. The red lines represent detected line features and the colored lines across images indicate feature association. The image may suddenly go dark due to turning off the lights, which is very difficult for vSLAM systems.
Paper "AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System" at https://ieeexplore.ieee.org/document/10874215

IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 22

A huge welcome to our new T-RO editorial board members. We are grateful for your commitment to the journal and look forward to working with you. Thank you!

www.ieee-ras.org/publications...

#IEEEras #Robotics

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 18

Researchers introduce a hybrid real‑to‑sim‑to‑real learning approach that helps robots adapt quickly to new tasks with minimal trials. The result? Faster learning and stronger performance with fewer attempts.
ieeexplore.ieee.org/abstract/doc...

#RobotLearning #BayesMethod #SimToReal

Experiment setup: A robot manipulator is balancing a planar pendulum and learning to follow the reference trajectory with the pendulum. Left: Simulator. Right: Real hardware.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 18

The first experimental validation of model-based robust position control for an underactuated dielectric elastomer #SoftRobot! This shows the controller stabilizing arbitrary configurations despite underactuation & input saturation.
ieeexplore.ieee.org/document/108...

#Robotics #ControlSystems

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 11

T-RO Honorable Mention paper entitled “Task and Motion Planning for Execution in the Real” introduces a framework integrating task and motion planning for real-world robotic execution under uncertainty, improving adaptability
ieeexplore.ieee.org/document/105...

#RobotSensingSystems #Robotics

Task is to move three objects to the goal tray. The full states of the dotted objects are not known precisely. A task and motion plan will have gaps, which can only be filled in during execution, e.g., the blue object's pose can only be known after opening the drawer. The problem imposes constraints visualized in a block-world-like diagram at the lower part of the figure.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 10

T-RO is proud to announce the upcoming special collection, Foundation Models for Robotics. Submission window opens September 1.

#RobotEmbodiments #FoundationModels #RoboticsFoundationModels #RoboticVLM #RoboticsLLM #IEEERAS

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 9

Honorable Mention paper, “Modeling & Design of Lattice-Reinforced Pneumatic Soft Robots” proposes a design methodology for #SoftRobots using lattice structures to enhance strength and control complex deformations.
ieeexplore.ieee.org/document/103...

#PneumaticSoftRobots #RobotDesign

$Lateral-climbing soft robot is designed consisting of a two-inputs soft actuator and two silicone suction feet. (a) Theoretically predicted antisymmetric deformation of soft actuators consists of two bending segments with \$n\$ = 3:2 and 2:3. (b)–(h) Soft robot moves laterally on the vertical surface due to the periodical input pressures.$

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 7

A T-RO King-Sun Fu Award Honorable Mention paper develops reactive modulation techniques on manifolds for safe navigation around complex, non-convex obstacles in real-time.
ieeexplore.ieee.org/document/104...

Authors: Christopher K. Fourie, Nadia Figueroa, and Julie Shah

#RobotSensingSystems

Proposed modulation approach applied to the end-effector of a robot manipulator as a real-time, reactive, motion planner. Our method is able to navigate around nonconvex obstacles with a control frequency of 1 kHz, while updating the obstacle states at 100 Hz.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jul 2

A T-RO King-Sun Fu Award Honorable Mention paper presents a #Biomimetic #RoboticArm optimized to closely replicate human joint performance, achieving high torque and range of motion.
ieeexplore.ieee.org/document/104...

Authors: Haosen Yang, Guowu Wei, and Lei Ren

(a) Prototype of the skeleton-ligament system of the forearm and elbow, including front view, left and right side views. (b) TFCC during pronation. The DRUL will slide across the distal ulna head and then across the ECU before starting to bend. (c) LCL including RCL and LUCL, annular ligament of the human and robotic elbow prototype; (d) MCL of the human and robotic elbow. (e) Human forearm and hand, and the prototype of the robotic forearm and hand.

IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jun 26

TRO Honorable Mention recipient is a paper entitled “Port-Hamiltonian Neural ODE Networks on Lie Groups” which introduces a structure-preserving neural ODE framework for learning #RobotDynamics on Lie groups, enhancing stability and control accuracy
ieeexplore.ieee.org/document/10598388

Quadrotor trajectory tracking using a learned port-Hamiltonian dynamics model.

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IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jun 24

The new 2024 Clarivate JCR Journal Impact Factors have been published. We are proud to announce T-ROs impact factor is now 10.5 vs. the 2023 rating of 9.3. Congratulations and with much appreciation to our incredibly hard-working editorial board. Thank you!

IEEE Transactions on Robotics (T-RO) @ieeetro.bsky.social · Jun 18

Last call. Event-based Vision for Robotics special collection is accepting submissions through June 30, 2025. Submit before the deadline.

www.ieee-ras.org/publications...