Pub Date : 2026-01-26DOI: 10.1109/TRO.2025.3640478
{"title":"IEEE Transactions on Robotics Information for Authors","authors":"","doi":"10.1109/TRO.2025.3640478","DOIUrl":"10.1109/TRO.2025.3640478","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"C3-C3"},"PeriodicalIF":10.5,"publicationDate":"2026-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11364048","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146056284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-16DOI: 10.1109/tro.2026.3654764
Leonard Bauersfeld, Davide Scaramuzza
{"title":"Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipe","authors":"Leonard Bauersfeld, Davide Scaramuzza","doi":"10.1109/tro.2026.3654764","DOIUrl":"https://doi.org/10.1109/tro.2026.3654764","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"269 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145993415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-15DOI: 10.1109/tro.2026.3654384
Lu Shi, Masih Haseli, Giorgos Mamakoukas, Daniel Bruder, Ian Abraham, Todd Murphey, Jorge Cortés, Konstantinos Karydis
{"title":"Koopman Operators in Robot Learning","authors":"Lu Shi, Masih Haseli, Giorgos Mamakoukas, Daniel Bruder, Ian Abraham, Todd Murphey, Jorge Cortés, Konstantinos Karydis","doi":"10.1109/tro.2026.3654384","DOIUrl":"https://doi.org/10.1109/tro.2026.3654384","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"101 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972390","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-15DOI: 10.1109/tro.2026.3653775
Xu Yang, Run Wang, Yiwen Lu, Yilin Mo
{"title":"Safe and Efficient Quadrupedal Locomotion with A Chambolle-Pock Whole-Body Controller","authors":"Xu Yang, Run Wang, Yiwen Lu, Yilin Mo","doi":"10.1109/tro.2026.3653775","DOIUrl":"https://doi.org/10.1109/tro.2026.3653775","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"162 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-14DOI: 10.1109/tro.2026.3653881
Yuhan Chen, Yunkai Wang, Fan Bu, Guiyang Xin, Changsheng Dai, Xingjian Liu, Yu Sun, Xinyu Liu
{"title":"A Fifth-Order POE-Based Method for Kinematic Identification and Inverse Kinematics of Serial Robots","authors":"Yuhan Chen, Yunkai Wang, Fan Bu, Guiyang Xin, Changsheng Dai, Xingjian Liu, Yu Sun, Xinyu Liu","doi":"10.1109/tro.2026.3653881","DOIUrl":"https://doi.org/10.1109/tro.2026.3653881","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"141 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-14DOI: 10.1109/TRO.2026.3653850
Boris Deroo;Erwin Aertbeliën;Wilm Decré;Herman Bruyninckx
This article describes a solution for pick-and-place tasks that do not require high precision throughout the execution, using a robotized gantry crane. Two common issues that occur when using a crane are addressed, and solutions are provided. First, the lack of rotational controllability is overcome by designing a gripper that passively aligns itself with the handle of the payload using a simple, robust control strategy. Second, the active workspace is expanded by using controlled, dynamic motions, based on a variable-length pendulum model. Thus, the workspace is no longer limited to positions directly accessible from above, as is the case with quasi-static control methods. The robustness and effectiveness of the proposed solution was validated by a grasping, and a shelf insertion experiment. The robot was able to grasp the payload during all 48 trials. Failures were detected and recovery strategies were implemented. The handle could also be reliably ungrasped. During the shelf insertion, imperfect trajectory tracking caused a significant error during the unobservable part of the trajectory. Nevertheless, the actual placement position was always close to the desired position.
{"title":"Mechatronic Design and Control of a Robotized Crane Exploiting Natural Dynamics for Pick-and-Place Applications","authors":"Boris Deroo;Erwin Aertbeliën;Wilm Decré;Herman Bruyninckx","doi":"10.1109/TRO.2026.3653850","DOIUrl":"10.1109/TRO.2026.3653850","url":null,"abstract":"This article describes a solution for pick-and-place tasks that do not require high precision throughout the execution, using a robotized gantry crane. Two common issues that occur when using a crane are addressed, and solutions are provided. First, the lack of rotational controllability is overcome by designing a gripper that passively aligns itself with the handle of the payload using a simple, robust control strategy. Second, the active workspace is expanded by using controlled, dynamic motions, based on a variable-length pendulum model. Thus, the workspace is no longer limited to positions directly accessible from above, as is the case with quasi-static control methods. The robustness and effectiveness of the proposed solution was validated by a grasping, and a shelf insertion experiment. The robot was able to grasp the payload during all 48 trials. Failures were detected and recovery strategies were implemented. The handle could also be reliably ungrasped. During the shelf insertion, imperfect trajectory tracking caused a significant error during the unobservable part of the trajectory. Nevertheless, the actual placement position was always close to the desired position.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"782-798"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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