If there’s one thing Mr. Robert Kelly isn’t shy about, it’s the act of getting it on. Responsible for such explicit songs as “Sex Me,” “Bump n’ Grind,” “Your Body’s Callin’” and “Feelin’ on Yo Booty,” the only thing that’s kept the soul-crooning R&B artist from entering the territory of laughable camp (i.e. the bizarre hip-hop-era “Trapped in the Closet”) is his ability to match his outlandishness with ear-worm hooks and infectious genre influences. On the road with Keyshia Cole, and supporting his 2010 album, “Love Letter,” R. Kelly performs at the Landmark Theater on Tuesday, July 12, at 7 p.m. $52-$87. 800-745-3000.