IEEE Transactions on Robotics

(The TQCC of IEEE Transactions on Robotics is 14. The table below lists those papers that are above that threshold based on CrossRef citation counts [max. 250 papers]. The publications cover those that have been published in the past four years, i.e., from 2020-05-01 to 2024-05-01.)
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM1404
TEASER: Fast and Certifiable Point Cloud Registration306
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry296
Past, Present, and Future of Aerial Robotic Manipulators165
A Review of Tactile Information: Perception and Action Through Touch125
GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation122
TossingBot: Learning to Throw Arbitrary Objects With Residual Physics118
RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight115
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners105
Data-Driven Control of Soft Robots Using Koopman Operator Theory94
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks93
Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators92
Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges89
Event-Based Stereo Visual Odometry88
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds83
Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following81
Convergent Multiagent Formation Control With Collision Avoidance80
PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking79
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments78
Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach78
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments76
Geometrically Constrained Trajectory Optimization for Multicopters76
Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle75
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction74
Object Handovers: A Review for Robotics74
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM73
Human-in-the-Loop Control of Soft Exosuits Using Impedance Learning on Different Terrains73
Long-Range Indoor Navigation With PRM-RL69
Direct Sparse Mapping67
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control67
Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory66
Soft Robots Modeling: A Structured Overview64
Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem63
An Iterative Approach for Accurate Dynamic Model Identification of Industrial Robots61
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems60
Enhancing the Universality of a Pneumatic Gripper via Continuously Adjustable Initial Grasp Postures59
Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot–Human Communication58
Definition and Application of Variable Resistance Coefficient for Wheeled Mobile Robots on Deformable Terrain58
Energy Generating Electronic Skin With Intrinsic Tactile Sensing Without Touch Sensors56
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight56
MADER: Trajectory Planner in Multiagent and Dynamic Environments54
An At-Scale Tailless Flapping-Wing Hummingbird Robot. I. Design, Optimization, and Experimental Validation54
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand53
DefSLAM: Tracking and Mapping of Deforming Scenes From Monocular Sequences53
Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios52
Inchworm Inspired Multimodal Soft Robots With Crawling, Climbing, and Transitioning Locomotion51
Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility51
MPC for Humanoid Gait Generation: Stability and Feasibility51
Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration51
A Decentralized Cluster Formation Containment Framework for Multirobot Systems51
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications50
A Grasping-Centered Analysis for Cloth Manipulation49
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems49
Flow: A Modular Learning Framework for Mixed Autonomy Traffic48
A Survey on Swarm Microrobotics48
Towards Generalization in Target-Driven Visual Navigation by Using Deep Reinforcement Learning48
Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning47
Distributed Control for Cooperative Manipulation With Event-Triggered Communication47
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight46
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators46
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications46
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments45
Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction44
Shape Formation in Homogeneous Swarms Using Local Task Swapping44
Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators44
Unseen Object Instance Segmentation for Robotic Environments44
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach43
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers43
Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications43
Self-Supervised Visual Terrain Classification From Unsupervised Acoustic Feature Learning43
In Vitro Design Investigation of a Rotating Helical Magnetic Swimmer for Combined 3-D Navigation and Blood Clot Removal42
A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction42
ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry42
Multirobot Coordination With Counting Temporal Logics41
Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization40
Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization40
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation40
Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud40
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors39
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing39
Deep Neural Network Based Electrical Impedance Tomographic Sensing Methodology for Large-Area Robotic Tactile Sensing38
Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation38
RBO Hand 3: A Platform for Soft Dexterous Manipulation37
EfficientLPS: Efficient LiDAR Panoptic Segmentation37
Kinematics of Soft Robots by Geometric Computing37
Walking Control Based on Step Timing Adaptation36
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine36
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control36
A Compliant Adaptive Gripper and Its Intrinsic Force Sensing Method35
Good Feature Matching: Toward Accurate, Robust VO/VSLAM With Low Latency35
A Dynamic Model for Concentric Tube Robots35
IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping35
Singularity-Free Guiding Vector Field for Robot Navigation34
MiniNet: An Efficient Semantic Segmentation ConvNet for Real-Time Robotic Applications33
Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control33
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies33
Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery32
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost32
Distributed Certifiably Correct Pose-Graph Optimization32
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System32
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms32
Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes31
Uncertainty Estimation for Data-Driven Visual Odometry31
A Hierarchical Architecture for Human–Robot Cooperation Processes31
Policy Search for Model Predictive Control With Application to Agile Drone Flight31
A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots31
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth31
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots30
Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms30
An Online Initialization and Self-Calibration Method for Stereo Visual-Inertial Odometry30
RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion30
Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis30
A Bisection Algorithm for Time-Optimal Trajectory Planning Along Fully Specified Paths30
Teleoperation of Humanoid Robots: A Survey30
Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions30
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics29
Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control29
Flat Inflatable Artificial Muscles With Large Stroke and Adjustable Force– Length Relations29
Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration28
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications28
Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot28
Toward Orientation Learning and Adaptation in Cartesian Space27
Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation27
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery27
Partially Observable Markov Decision Processes in Robotics: A Survey27
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control27
Pose Estimation for Ground Robots: On Manifold Representation, Integration, Reparameterization, and Optimization26
Deep Learning Approaches to Grasp Synthesis: A Review26
EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments26
Crabbot: A Pole-Climbing Robot Driven by Piezoelectric Stack26
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems26
Artificial Perception and Semiautonomous Control in Myoelectric Hand Prostheses Increases Performance and Decreases Effort25
Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots25
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints25
Mobile Microrobots for In Vitro Biomedical Applications: A Survey25
Modeling Electromagnetic Navigation Systems25
Powered Knee and Ankle Prosthesis With Adaptive Control Enables Climbing Stairs With Different Stair Heights, Cadences, and Gait Patterns25
Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger25
Adaptive Control Method for Dynamic Synchronization of Wearable Robotic Assistance to Discrete Movements: Validation for Use Case of Lifting Tasks25
Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem25
An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis24
Feasible Region: An Actuation-Aware Extension of the Support Region24
Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance24
Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions24
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization24
On Closed-Form Formulas for the 3-D Nearest Rotation Matrix Problem24
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration24
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios24
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback23
Learning for Attitude Holding of a Robotic Fish: An End-to-End Approach With Sim-to-Real Transfer23
A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation23
Design, Development, and Control of a Hand/Wrist Exoskeleton for Rehabilitation and Training23
Cramér–Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM23
Dynam-SLAM: An Accurate, Robust Stereo Visual-Inertial SLAM Method in Dynamic Environments23
Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM23
Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance23
Optimal UAV Route Planning for Persistent Monitoring Missions23
Dynamic Modeling and Control of Deformable Linear Objects for Single-Arm and Dual-Arm Robot Manipulations23
Force from Shape—Estimating the Location and Magnitude of the External Force on Flexible Instruments22
Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit22
Learning to Play Table Tennis From Scratch Using Muscular Robots22
Single Master Bimanual Teleoperation System With Efficient Regulation21
Model-Based Design of a Soft 3-D Haptic Shape Display21
Random-Finite-Set-Based Distributed Multirobot SLAM21
Multirobot Collaborative Monocular SLAM Utilizing Rendezvous21
Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-Guided Robotic Platform—Validation With Pulmonary Vein Isolation Simulator in MRI21
Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs21
Elongatable Gripper Fingers With Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation21
Robust Distributed Planar Formation Control for Higher Order Holonomic and Nonholonomic Agents21
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications21
Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance20
Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM20
Energy-Efficient Path Planning of Reconfigurable Robots in Complex Environments20
Perceptive Locomotion Through Nonlinear Model-Predictive Control20
Feedback Altitude Control of a Flying Insect–Computer Hybrid Robot20
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation20
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments20
HanGrawler: Large-Payload and High-Speed Ceiling Mobile Robot Using Crawler20
Autonomous Cave Surveying With an Aerial Robot20
Morphing Origami Block for Lightweight Reconfigurable System20
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems20
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies20
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems20
A 5-mm Untethered Crawling Robot via Self-Excited Electrostatic Vibration20
An Evolutionary-Optimized Surgical Path Planner for a Programmable Bevel-Tip Needle19
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry With Full Self-Calibration19
A Novel Radar Point Cloud Generation Method for Robot Environment Perception19
Energy Regeneration From Electromagnetic Induction by Human Dynamics for Lower Extremity Robotic Prostheses19
Static Workspace Optimization of Aerial Cable Towed Robots With Land-Fixed Winches19
Singularity Conditions for Continuum Parallel Robots19
Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking19
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra19
Probabilistic Modeling and Bayesian Filtering for Improved State Estimation for Soft Robots19
A Geometric Approach for Grasping Unknown Objects With Multifingered Hands18
Graph-Based Thermal–Inertial SLAM With Probabilistic Neural Networks18
Quantifying Hypothesis Space Misspecification in Learning From Human–Robot Demonstrations and Physical Corrections18
ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings18
Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach18
Following Leaders in Byzantine Multirobot Systems by Using Blockchain Technology18
Automated Routing of Muscle Fibers for Soft Robots18
Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk18
Shoulder-sideWINDER (Shoulder-side Wearable INDustrial Ergonomic Robot): Design and Evaluation of Shoulder Wearable Robot With Mechanisms to Compensate for Joint Misalignment18
Stochastic Dynamic Games in Belief Space18
Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots18
A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot18
Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators18
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms Using Learned Interactions18
Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking17
Safe Active Dynamics Learning and Control: A Sequential Exploration–Exploitation Framework17
Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet17
Toward a Unified Approximate Analytical Representation for Spatially Running Spring-Loaded Inverted Pendulum Model17
Kalman-Filter-Based, Dynamic 3-D Shape Reconstruction for Steerable Needles With Fiber Bragg Gratings in Multicore Fibers17
Constructive Time-Varying Vector Fields for Robot Navigation17
Adaptive Feet for Quadrupedal Walkers17
Impedance Modulation Control of a Lower-Limb Exoskeleton to Assist Sit-to-Stand Movements17
Flagellate Underwater Robotics at Macroscale: Design, Modeling, and Characterization17
SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric17
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation17
Achieving Versatile Energy Efficiency With the WANDERER Biped Robot17
Analysis and Synthesis of Underactuated Compliant Mechanisms Based on Transmission Properties of Motion and Force17
Hybrid Robotic Grasping With a Soft Multimodal Gripper and a Deep Multistage Learning Scheme17
A Two-Stage Optimization-Based Motion Planner for Safe Urban Driving16
Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails16
Controlled Noncontact Manipulation of Nonmagnetic Untethered Microbeads Orbiting Two-Tailed Soft Microrobot16
Bio-Inspired Rapid Escape and Tight Body Flip on an At-Scale Flapping Wing Hummingbird Robot Via Reinforcement Learning16
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning16
View Path Planning via Online Multiview Stereo for 3-D Modeling of Large-Scale Structures16
Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)16
Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields16
Analysis of Coupling Effect in Human-Commanded Stiffness During Bilateral Tele-Impedance16
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency16
Anthropomorphic Twisted String-Actuated Soft Robotic Gripper With Tendon-Based Stiffening16
Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection16
Fast UAV Trajectory Optimization Using Bilevel Optimization With Analytical Gradients15
A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction15
Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations15
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation15
Kinodynamic Model Identification: A Unified Geometric Approach15
Line Flow Based Simultaneous Localization and Mapping15
Perception-Based Temporal Logic Planning in Uncertain Semantic Maps15
Workspace-Based Model Predictive Control for Cable-Driven Robots15
Stochastic Motion Planning Under Partial Observability for Mobile Robots With Continuous Range Measurements14
Shake and Take: Fast Transformation of an Origami Gripper14
Kinematic Modeling and Characterization of Soft Parallel Robots14
Dynamic Resilient Containment Control in Multirobot Systems14
Necessary and Sufficient Conditions for Observability of SLAM-Based TDOA Sensor Array Calibration and Source Localization14
A Secure Robot Learning Framework for Cyber Attack Scheduling and Countermeasure14
A Self-Reconfigurable Variable-Stiffness Soft Robot Based on Boundary-Constrained Modular Units14
Design of a New Bio-Inspired Dual-Axis Compliant Micromanipulator With Millimeter Strokes14
Launching of a Cyborg Locust via Co-Contraction Control of Hindleg Muscles14