Robert K. Katzschmann

122 papers A* 11A 18B 1C 1Misc 1Journal 74Unranked 16
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators.
CoRR
Misato Sonoda, Ronan Hinchet, Amirhossein Kazemipour, Yasunori Toshimitsu, Robert K. Katzschmann
2026 J jnl
A Unified Low-Dimensional Design Embedding for Joint Optimization of Shape, Material, and Actuation in Soft Robots.
CoRR
Vittorio Candiello, Manuel Mekkattu, Mike Yan Michelis, Robert K. Katzschmann
2026 J jnl
Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots.
CoRR
Paul Leonard Wolff, Hugo Buurmeijer, Luis A. Pabon, John Irvin Alora, Mark Leone, Roshan S. Kaundinya, Amirhossein Kazemipour, Robert K. Katzschmann, Marco Pavone
2026 J jnl
Nonlinear Spectral Modeling and Control of Soft-Robotic Muscles from Data.
CoRR
Leonardo Bettini, Amirhossein Kazemipour, Robert K. Katzschmann, George Haller
2026 J jnl
Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows.
CoRR
Chenyu Yang, Denis Tarasov, Davide Liconti, Hehui Zheng, Robert K. Katzschmann
2026 J jnl
Simple Models, Real Swimming: Digital Twins for Tendon-Driven Underwater Robots.
CoRR
Mike Yan Michelis, Nana Obayashi, Josie Hughes, Robert K. Katzschmann
2025 J jnl
AquaROM: shape optimization pipeline for soft swimmers using parametric reduced order models.
CoRR
Mathieu Dubied, Paolo Tiso, Robert K. Katzschmann
2025 A conf
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five.
IROS
Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert J. S. Malate, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five.
CoRR
Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert J. S. Malate, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
Bio-hybrids: When Robots Come Alive.
Adv. Intell. Syst.
Miriam Filippi, Robert K. Katzschmann
2025 J jnl
Decoupling Torque and Stiffness: A Unified Modeling and Control Framework for Antagonistic Artificial Muscles.
CoRR
Amirhossein Kazemipour, Robert K. Katzschmann
2025 — conf
Design Optimization and Evaluation of a Robotic Thumb with Anatomical Geometry and Passive Soft-Tissue Integration.
Humanoids
Daniel Lenggenhager, Stefan Weirich, Phillip Wand, Robert K. Katzschmann
2025 J jnl
Latent Action Diffusion for Cross-Embodiment Manipulation.
CoRR
Erik Bauer, Elvis Nava, Robert K. Katzschmann
2025 J jnl
Learning Soft Robotic Dynamics with Active Exploration.
CoRR
Hehui Zheng, Bhavya Sukhija, Chenhao Li, Klemens Iten, Andreas Krause, Robert K. Katzschmann
2025 J jnl
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos.
CoRR
Alexey Gavryushin, Xi Wang, Robert J. S. Malate, Chenyu Yang, Xiangyi Jia, Shubh Goel, Davide Liconti, René Zurbrügg, Robert K. Katzschmann, Marc Pollefeys
2025 J jnl
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications.
CoRR
Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann, Rubén Fernández, Yosra Mojtahedi, Stefan Escaida Navarro
2025 J jnl
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications.
IEEE Robotics Autom. Lett.
Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann, Rubén Fernández, Yosra Mojtahedi, Stefan Escaida Navarro
2025 A conf
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning.
IROS
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis, Arturo Roberti, Aristotelis Sympetheros, Michel R. Vogt, Davide Liconti, Chenyu Yang, Barnabas Gavin Cangan, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning.
CoRR
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis, Arturo Roberti, Aristotelis Sympetheros, Michel R. Vogt, Davide Liconti, Chenyu Yang, Barnabas Gavin Cangan, Ronan Hinchet, Robert K. Katzschmann
2025 A* conf
Reliable Aerial Manipulation: Combining Visual Tracking with Range Sensing for Robust Grasping.
ICRA
Marc Blöchlinger, Yasunori Toshimitsu, Robert K. Katzschmann
2025 J jnl
Robotic Assistant: Completing Collaborative Tasks with Dexterous Vision-Language-Action Models.
CoRR
Boshi An, Chenyu Yang, Robert K. Katzschmann
2025 J jnl
Robust Learning-Based Control for Uncertain Nonlinear Systems With Validation on a Soft Robot.
IEEE Trans. Neural Networks Learn. Syst.
Minghao Han, Kiwan Wong, Jacob Euler-Rolle, Lixian Zhang, Robert K. Katzschmann
2025 J jnl
SORS: A Modular, High-Fidelity Simulator for Soft Robots.
CoRR
Manuel Mekkattu, Mike Yan Michelis, Robert K. Katzschmann
2025 A conf
Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand.
IROS
Adrian Hess, Alexander M. Kübler, Benedek Forrai, Mehmet Remzi Dogar, Robert K. Katzschmann
2025 J jnl
Sensor-Embedded Muscle for Closed-Loop Controllable Actuation in Proprioceptive Biohybrid Robots.
Adv. Intell. Syst.
Miriam Filippi, Aiste Balciunaite, Antonia Georgopoulou, Pablo Paniagua, Felix Drescher, Minghao Nie, Shoji Takeuchi, Frank Clemens, Robert K. Katzschmann
2025 A* conf
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints.
ICRA
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity.
CoRR
Elvis Nava, Victoriano Montesinos, Erik Bauer, Benedek Forrai, Jonas Pai, Stefan Weirich, Stephan-Daniel Gravert, Philipp Wand, Stephan Polinski, Benjamin F. Grewe, Robert K. Katzschmann
2024 B conf
A Rapid and Robust Tendon-Driven Robotic Hand for Human-Robot Interactions Playing Rock-Paper-Scissors.
RO-MAN
Xiang Deng, Stefan Weirich, Robert K. Katzschmann, Tobi Delbruck
2024 J jnl
A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles.
Adv. Intell. Syst.
Andrea Giordano, Liam Achenbach, Daniel Lenggenhager, Fabian Wiesemüller, Roger Vonbank, Claudio Mucignat, André Tristany Farinha, Pham Huy Nguyen, Robert K. Katzschmann, Sophie F. Armanini, Ivan Lunati, Sukho Song, Mirko Kovac
2024 J jnl
A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles.
Adv. Intell. Syst.
Andrea Giordano, Liam Achenbach, Daniel Lenggenhager, Fabian Wiesemüller, Roger Vonbank, Claudio Mucignat, André Tristany Farinha, Pham Huy Nguyen, Robert K. Katzschmann, Sophie F. Armanini, Ivan Lunati, Sukho Song, Mirko Kovac
2024 Misc conf
An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild.
CoRL
Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Curdin Cavelti, Robert K. Katzschmann
2024 J jnl
An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild.
CoRR
Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Curdin Cavelti, Robert K. Katzschmann
2024 A* conf
Beyond Regular Grids: Fourier-Based Neural Operators on Arbitrary Domains.
ICML
Levi E. Lingsch, Mike Yan Michelis, Emmanuel de Bézenac, Sirani M. Perera, Robert K. Katzschmann, Siddhartha Mishra
2024 — conf
Bilayered Biofabrication Unlocks the Potential of Skeletal Muscle for Biohybrid Soft Robots.
RoboSoft
Aiste Balciunaite, Oncay Yasa, Miriam Filippi, Mike Yan Michelis, Robert K. Katzschmann
2024 — conf
Fast Point Cloud to Mesh Reconstruction for Deformable Object Tracking.
ROBOVIS
Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann
2024 A conf
High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators.
IROS
Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour, Robert K. Katzschmann
2024 J jnl
High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators.
CoRR
Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour, Robert K. Katzschmann
2024 J jnl
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand.
CoRR
Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann
2024 — conf
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on an Anthropomorphic Robotic Hand.
Humanoids
Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann
2024 J jnl
Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots.
IEEE Robotics Autom. Lett.
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann
2024 J jnl
PokeFlex: A Real-World Dataset of Deformable Objects for Robotics.
CoRR
Jan Obrist, Miguel Zamora, Hehui Zheng, Ronan Hinchet, Firat Ozdemir, Juan Zarate, Robert K. Katzschmann, Stelian Coros
2024 J jnl
PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation.
CoRR
Jan Obrist, Miguel Zamora, Hehui Zheng, Juan Zarate, Robert K. Katzschmann, Stelian Coros
2024 — conf
Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm.
RoboSoft
Thomas Buchner, Stefan Weirich, Alexander M. Kübler, Wojciech Matusik, Robert K. Katzschmann
2024 J jnl
Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm.
CoRR
Thomas Buchner, Stefan Weirich, Alexander M. Kübler, Wojciech Matusik, Robert K. Katzschmann
2024 A conf
Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb.
IROS
Arnaud Bersier, Matteo Leonforte, Alessio Vanetta, Sarah Lia Andrea Wotke, Andrea Nappi, Yifan Zhou, Sebastiano Oliani, Alexander M. Kübler, Robert K. Katzschmann
2024 J jnl
Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb.
CoRR
Arnaud Bersier, Matteo Leonforte, Alessio Vanetta, Sarah Lia Andrea Wotke, Andrea Nappi, Yifan Zhou, Sebastiano Oliani, Alexander M. Kübler, Robert K. Katzschmann
2024 J jnl
Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand.
CoRR
Adrian Hess, Alexander M. Kübler, Benedek Forrai, Mehmet Remzi Dogar, Robert K. Katzschmann
2024 A* conf
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder.
ICRA
Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann
2024 J jnl
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder.
CoRR
Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann
2024 A* conf
Sensorized Soft Skin for Dexterous Robotic Hands.
ICRA
Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, Robert K. Katzschmann
2024 J jnl
Sensorized Soft Skin for Dexterous Robotic Hands.
CoRR
Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, Robert K. Katzschmann
2024 J jnl
Sim-to-Real of Soft Robots With Learned Residual Physics.
IEEE Robotics Autom. Lett.
Junpeng Gao, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann
2024 J jnl
Sim-to-Real of Soft Robots with Learned Residual Physics.
CoRR
Junpeng Gao, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann
2024 J jnl
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints.
CoRR
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
2024 — conf
Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation.
RoboSoft
Wensi Zhang, Barnabas Gavin Cangan, Thomas Buchner, Alexander M. Kübler, Ramon Asmus, Robert K. Katzschmann
2024 J jnl
VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding.
CoRR
Chenyu Yang, Davide Liconti, Robert K. Katzschmann
2024 J jnl
Vision-Based Online Key Point Estimation of Deformable Robots.
Adv. Intell. Syst.
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann
2023 — conf
A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process.
RoboSoft
Antonia Georgopoulou, Stijn Hamelryckx, Kai Junge, Louisa Marie Eckey, Simon Rogler, Robert K. Katzschmann, Josie Hughes, Frank Clemens
2023 J jnl
An Overview of Soft Robotics.
Annu. Rev. Control. Robotics Auton. Syst.
Oncay Yasa, Yasunori Toshimitsu, Mike Yan Michelis, Lewis S. Jones, Miriam Filippi, Thomas Buchner, Robert K. Katzschmann
2023 A* conf
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.
ICRA
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
2023 J jnl
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.
CoRR
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
2023 A conf
Autonomous Marker-Less Rapid Aerial Grasping.
IROS
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
2023 J jnl
Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks.
Adv. Intell. Syst.
Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann
2023 J jnl
Fast Point-cloud to Mesh Reconstruction for Deformable Object Tracking.
CoRR
Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann
2023 — conf
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints.
Humanoids
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
2023 J jnl
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints.
CoRR
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
2023 J jnl
Low Voltage Electrohydraulic Actuators for Untethered Robotics.
CoRR
Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour, Mike Yan Michelis, Thomas Buchner, Ronan Hinchet, Robert K. Katzschmann
2023 J jnl
Meta-Learning via Classifier(-free) Diffusion Guidance.
Trans. Mach. Learn. Res.
Elvis Nava, Seijin Kobayashi, Yifei Yin, Robert K. Katzschmann, Benjamin F. Grewe
2023 J jnl
Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots.
CoRR
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann
2023 J jnl
Towards a Physics-Based Model for Steerable Eversion Growing Robots.
IEEE Robotics Autom. Lett.
Zicong Wu, Mikel De Iturrate Reyzabal, S. M. Hadi Sadati, Hongbin Liu, Sébastien Ourselin, Daniel Richard Leff, Robert K. Katzschmann, Kawal S. Rhode, Christos Bergeles
2023 J jnl
Vandermonde Neural Operators.
CoRR
Levi E. Lingsch, Mike Yan Michelis, Sirani M. Perera, Robert K. Katzschmann, Siddhartha Mishra
2022 A conf
A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints.
IROS
Filippo A. Spinelli, Robert K. Katzschmann
2022 J jnl
A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints.
CoRR
Filippo A. Spinelli, Robert K. Katzschmann
2022 A* conf
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators.
ICRA
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann
2022 J jnl
Autonomous Vision-based Rapid Aerial Grasping.
CoRR
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
2022 J jnl
Creation of a Modular Soft Robotic Fish Testing Platform.
CoRR
Yu Zhang, Robert K. Katzschmann
2022 A* conf
DeSKO: Stability-Assured Robust Control with a Deep Stochastic Koopman Operator.
ICLR
Minghao Han, Jacob Euler-Rolle, Robert K. Katzschmann
2022 J jnl
Dynamic Control of Soft Manipulators to Perform Real-World Tasks.
CoRR
Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann
2022 J jnl
Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models.
CoRR
Elvis Nava, John Z. Zhang, Mike Yan Michelis, Tao Du, Pingchuan Ma, Benjamin F. Grewe, Wojciech Matusik, Robert K. Katzschmann
2022 C conf
Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation.
ISRR
Dario Tscholl, Stephan-Daniel Gravert, Aurel X. Appius, Robert K. Katzschmann
2022 J jnl
Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation.
CoRR
Dario Tscholl, Stephan-Daniel Gravert, Aurel X. Appius, Robert K. Katzschmann
2022 J jnl
Meta-Learning via Classifier(-free) Guidance.
CoRR
Elvis Nava, Seijin Kobayashi, Yifei Yin, Robert K. Katzschmann, Benjamin F. Grewe
2022 A conf
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing.
IROS
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
2022 J jnl
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing.
CoRR
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
2022 — conf
Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm.
RoboSoft
Róbert Szász, Mike Allenspach, Minghao Han, Marco Tognon, Robert K. Katzschmann
2022 J jnl
Physics-constrained Unsupervised Learning of Partial Differential Equations using Meshes.
CoRR
Mike Yan Michelis, Robert K. Katzschmann
2022 A conf
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs.
IROS
Stephan-Daniel Gravert, Mike Yan Michelis, Simon Rogler, Dario Tscholl, Thomas Buchner, Robert K. Katzschmann
2022 J jnl
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs.
CoRR
Stephan-Daniel Gravert, Mike Yan Michelis, Simon Rogler, Dario Tscholl, Thomas Buchner, Robert K. Katzschmann
2022 A conf
Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots.
IROS
Philipp Wand, Oliver Fischer, Robert K. Katzschmann
2022 J jnl
Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots.
CoRR
Philipp Wand, Oliver Fischer, Robert K. Katzschmann
2022 A conf
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots.
IROS
Aurel X. Appius, Erik Bauer, Marc Blöchlinger, Aashi Kalra, Robin Oberson, Arman Raayatsanati, Pascal Strauch, Sarath Suresh, Marco von Salis, Robert K. Katzschmann
2022 J jnl
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots.
CoRR
Aurel Appius, Erik Bauer, Marc Blöchlinger, Aashi Kalra, Robin Oberson, Arman Raayatsanati, Pascal Strauch, Sarath Suresh, Marco von Salis, Robert K. Katzschmann
2022 J jnl
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications.
CoRR
Pascal Auf der Maur, Betim Djambazi, Yves Haberthür, Patricia Hörmann, Alexander M. Kübler, Michael Lustenberger, Samuel Sigrist, Oda Vigen, Julian Förster, Florian Achermann, Elias Hampp, Robert K. Katzschmann, Roland Siegwart
2022 A* conf
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction.
ICRA
Markus Ryll, Robert K. Katzschmann
2022 J jnl
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction.
CoRR
Markus Ryll, Robert K. Katzschmann
2022 J jnl
Sim-to-Real for Projective Dynamics on Soft Robots via Differentiability: Meshing, Damping, and Actuation.
CoRR
Mathieu Dubied, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann
2022 A conf
Sim2Real for Soft Robotic Fish via Differentiable Simulation.
IROS
John Z. Zhang, Yu Zhang, Pingchuan Ma, Elvis Nava, Tao Du, Philip Arm, Wojciech Matusik, Robert K. Katzschmann
2022 J jnl
ViSE: Vision-Based 3D Real-Time Shape Estimation of Continuously Deformable Robots.
CoRR
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann
2021 J jnl
A Robust Adaptive Approach to Dynamic Control of Soft Continuum Manipulators.
CoRR
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann
2021 J jnl
DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation.
CoRR
Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, Wojciech Matusik
2021 J jnl
DiffAqua: a differentiable computational design pipeline for soft underwater swimmers with shape interpolation.
ACM Trans. Graph.
Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, Wojciech Matusik
2021 J jnl
Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots.
Int. J. Robotics Res.
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
2021 J jnl
Learning Material Parameters and Hydrodynamics of Soft Robotic Fish via Differentiable Simulation.
CoRR
John Z. Zhang, Yu Zhang, Pingchuan Ma, Elvis Nava, Tao Du, Philip Arm, Wojciech Matusik, Robert K. Katzschmann
2021 J jnl
Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm.
CoRR
Róbert Szász, Mike Allenspach, Minghao Han, Marco Tognon, Robert K. Katzschmann
2021 — conf
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications.
RoboSoft
Pascal Auf der Maur, Betim Djambazi, Yves Haberthür, Patricia Hörmann, Alexander M. Kübler, Michael Lustenberger, Samuel Sigrist, Oda Vigen, Julian Förster, Florian Achermann, Elias Hampp, Robert K. Katzschmann, Roland Siegwart
2021 A conf
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing.
IROS
Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann
2021 J jnl
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing.
CoRR
Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann
2020 J jnl
Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment.
Int. J. Robotics Res.
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
2019 — conf
Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model.
RoboSoft
Robert K. Katzschmann, Cosimo Della Santina, Yasunori Toshimitsu, Antonio Bicchi, Daniela Rus
2019 — conf
Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer.
RoboSoft
Robert K. Katzschmann, Maxime Thieffry, Olivier Goury, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez, Daniela Rus
2019 J jnl
Robust proprioceptive grasping with a soft robot hand.
Auton. Robots
Bianca S. Homberg, Robert K. Katzschmann, Mehmet Remzi Dogar, Daniela Rus
2019 — conf
Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation.
RoboSoft
Ryan L. Truby, Robert K. Katzschmann, Jennifer A. Lewis, Daniela Rus
2018 — conf
Dynamic control of soft robots interacting with the environment.
RoboSoft
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
2017 A* conf
Enabling independent navigation for visually impaired people through a wearable vision-based feedback system.
ICRA
Hsueh-Cheng Wang, Robert K. Katzschmann, Santani Teng, Brandon Araki, Laura Giarré, Daniela Rus
2016 A conf
Cyclic hydraulic actuation for soft robotic devices.
IROS
Robert K. Katzschmann, Austin de Maille, David L. Dorhout, Daniela Rus
2016 A* conf
Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids.
ICRA
Robert MacCurdy, Robert K. Katzschmann, Youbin Kim, Daniela Rus
2015 — conf
A Compact Acoustic Communication Module for Remote Control Underwater.
WUWNet
Joseph DelPreto, Robert K. Katzschmann, Robert MacCurdy, Daniela Rus
2015 A conf
A soft cube capable of controllable continuous jumping.
IROS
Shuguang Li, Robert K. Katzschmann, Daniela Rus
2015 A conf
Haptic identification of objects using a modular soft robotic gripper.
IROS
Bianca S. Homberg, Robert K. Katzschmann, Mehmet Remzi Dogar, Daniela Rus
2014 — conf
Hydraulic Autonomous Soft Robotic Fish for 3D Swimming.
ISER
Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus
2014 A conf
Whole arm planning for a soft and highly compliant 2D robotic manipulator.
IROS
Andrew D. Marchese, Robert K. Katzschmann, Daniela Rus
2013 A conf
Towards online trajectory generation considering robot dynamics and torque limits.
IROS
Robert K. Katzschmann, Torsten Kröger, Tamim Asfour, Oussama Khatib