Robert K. Katzschmann

Publication Activity (10 Years)

Years Active: 2013-2024
Publications (10 Years): 77

Top Topics

Feedback Control

Deformable Object Tracking

Top Venues

Publications

Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder. ICRA (2024)
Wensi Zhang, Barnabas Gavin Cangan, Thomas Buchner, Alexander M. Kübler, Ramon Asmus, Robert K. Katzschmann
Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation. RoboSoft (2024)
Junpeng Gao, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann
Sim-to-Real of Soft Robots with Learned Residual Physics. CoRR (2024)
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
A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles. Adv. Intell. Syst. 6 (6) (2024)
Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour, Robert K. Katzschmann
High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators. CoRR (2024)
Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand. CoRR (2024)
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann
Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots. IEEE Robotics Autom. Lett. 9 (3) (2024)
Thomas Buchner, Stefan Weirich, Alexander M. Kübler, Wojciech Matusik, Robert K. Katzschmann
Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm. CoRR (2024)
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
A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles. Adv. Intell. Syst. 6 (6) (2024)
Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, Robert K. Katzschmann
Sensorized Soft Skin for Dexterous Robotic Hands. ICRA (2024)
Thomas Buchner, Stefan Weirich, Alexander M. Kübler, Wojciech Matusik, Robert K. Katzschmann
Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm. RoboSoft (2024)
Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, Robert K. Katzschmann
Sensorized Soft Skin for Dexterous Robotic Hands. CoRR (2024)
Aiste Balciunaite, Oncay Yasa, Miriam Filippi, Mike Yan Michelis, Robert K. Katzschmann
Bilayered Biofabrication Unlocks the Potential of Skeletal Muscle for Biohybrid Soft Robots. RoboSoft (2024)
Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann
Fast Point Cloud to Mesh Reconstruction for Deformable Object Tracking. ROBOVIS (2024)
Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder. CoRR (2024)
Oncay Yasa, Yasunori Toshimitsu, Mike Yan Michelis, Lewis S. Jones, Miriam Filippi, Thomas Buchner, Robert K. Katzschmann
An Overview of Soft Robotics. Annu. Rev. Control. Robotics Auton. Syst. 6 (2023)
Antonia Georgopoulou, Stijn Hamelryckx, Kai Junge, Louisa Marie Eckey, Simon Rogler, Robert K. Katzschmann, Josie Hughes, Frank Clemens
A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process. RoboSoft (2023)
Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann
Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks. Adv. Intell. Syst. 5 (1) (2023)
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
Autonomous Marker-Less Rapid Aerial Grasping. IROS (2023)
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. ICRA (2023)
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. CoRR (2023)
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
Towards a Physics-Based Model for Steerable Eversion Growing Robots. IEEE Robotics Autom. Lett. 8 (2) (2023)
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. Humanoids (2023)
Elvis Nava, Seijin Kobayashi, Yifei Yin, Robert K. Katzschmann, Benjamin F. Grewe
Meta-Learning via Classifier(-free) Diffusion Guidance. Trans. Mach. Learn. Res. 2023 (2023)
Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications. CoRR (2023)
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann
Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots. CoRR (2023)
Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour, Mike Yan Michelis, Thomas Buchner, Ronan Hinchet, Robert K. Katzschmann
Low Voltage Electrohydraulic Actuators for Untethered Robotics. CoRR (2023)
Levi E. Lingsch, Mike Yan Michelis, Sirani M. Perera, Robert K. Katzschmann, Siddartha Mishra
Vandermonde Neural Operators. CoRR (2023)
Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann
Fast Point-cloud to Mesh Reconstruction for Deformable Object Tracking. CoRR (2023)
Aurel Appius, Erik Bauer, Marc Blöchlinger, Aashi Kalra, Robin Oberson, Arman Raayatsanati, Pascal Strauch, Sarath Suresh, Marco von Salis, Robert K. Katzschmann
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots. CoRR (2022)
Elvis Nava, Seijin Kobayashi, Yifei Yin, Robert K. Katzschmann, Benjamin F. Grewe
Meta-Learning via Classifier(-free) Guidance. CoRR (2022)
Markus Ryll, Robert K. Katzschmann
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction. ICRA (2022)
Mathieu Dubied, Mike Michelis, Andrew Spielberg, Robert K. Katzschmann
Sim-to-Real for Projective Dynamics on Soft Robots via Differentiability: Meshing, Damping, and Actuation. CoRR (2022)
Róbert Szász, Mike Allenspach, Minghao Han, Marco Tognon, Robert K. Katzschmann
Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm. RoboSoft (2022)
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
Autonomous Vision-based Rapid Aerial Grasping. CoRR (2022)
Filippo A. Spinelli, Robert K. Katzschmann
A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints. IROS (2022)
Filippo A. Spinelli, Robert K. Katzschmann
A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints. CoRR (2022)
Aurel X. Appius, Erik Bauer, Marc Blöchlinger, Aashi Kalra, Robin Oberson, Arman Raayatsanati, Pascal Strauch, Sarath Suresh, Marco von Salis, Robert K. Katzschmann
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots. IROS (2022)
Markus Ryll, Robert K. Katzschmann
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction. CoRR (2022)
Stephan-Daniel Gravert, Mike Yan Michelis, Simon Rogler, Dario Tscholl, Thomas Buchner, Robert K. Katzschmann
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs. IROS (2022)
Mike Yan Michelis, Robert K. Katzschmann
Physics-constrained Unsupervised Learning of Partial Differential Equations using Meshes. CoRR (2022)
Pascal Auf der Maur, Betim Djambazi, Yves Haberthür, Patricia Hörmann, Alexander Kübler, Michael Lustenberger, Samuel Sigrist, Oda Vigen, Julian Förster, Florian Achermann, Elias Hampp, Robert K. Katzschmann, Roland Siegwart
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications. CoRR (2022)
Philipp Wand, Oliver Fischer, Robert K. Katzschmann
Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots. IROS (2022)
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann
ViSE: Vision-Based 3D Real-Time Shape Estimation of Continuously Deformable Robots. CoRR (2022)
John Z. Zhang, Yu Zhang, Pingchuan Ma, Elvis Nava, Tao Du, Philip Arm, Wojciech Matusik, Robert K. Katzschmann
Sim2Real for Soft Robotic Fish via Differentiable Simulation. IROS (2022)
Dario Tscholl, Stephan-Daniel Gravert, Aurel X. Appius, Robert K. Katzschmann
Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation. CoRR (2022)
Philipp Wand, Oliver Fischer, Robert K. Katzschmann
Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots. CoRR (2022)
Minghao Han, Jacob Euler-Rolle, Robert K. Katzschmann
DeSKO: Stability-Assured Robust Control with a Deep Stochastic Koopman Operator. ICLR (2022)
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing. IROS (2022)
Stephan-Daniel Gravert, Mike Yan Michelis, Simon Rogler, Dario Tscholl, Thomas Buchner, Robert K. Katzschmann
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs. CoRR (2022)
Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann
Dynamic Control of Soft Manipulators to Perform Real-World Tasks. CoRR (2022)
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing. CoRR (2022)
Elvis Nava, John Z. Zhang, Mike Yan Michelis, Tao Du, Pingchuan Ma, Benjamin F. Grewe, Wojciech Matusik, Robert K. Katzschmann
Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models. CoRR (2022)
Dario Tscholl, Stephan-Daniel Gravert, Aurel X. Appius, Robert K. Katzschmann
Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation. ISRR (2022)
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators. ICRA (2022)
Yu Zhang, Robert K. Katzschmann
Creation of a Modular Soft Robotic Fish Testing Platform. CoRR (2022)
Pascal Auf der Maur, Betim Djambazi, Yves Haberthür, Patricia Hörmann, Alexander Kübler, Michael Lustenberger, Samuel Sigrist, Oda Vigen, Julian Förster, Florian Achermann, Elias Hampp, Robert K. Katzschmann, Roland Siegwart
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications. RoboSoft (2021)
Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing. IROS (2021)
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann
A Robust Adaptive Approach to Dynamic Control of Soft Continuum Manipulators. CoRR (2021)
Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, Wojciech Matusik
DiffAqua: a differentiable computational design pipeline for soft underwater swimmers with shape interpolation. ACM Trans. Graph. 40 (4) (2021)
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots. Int. J. Robotics Res. 40 (1) (2021)
Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing. CoRR (2021)
Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, Wojciech Matusik
DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation. CoRR (2021)
John Z. Zhang, Yu Zhang, Pingchuan Ma, Elvis Nava, Tao Du, Philip Arm, Wojciech Matusik, Robert K. Katzschmann
Learning Material Parameters and Hydrodynamics of Soft Robotic Fish via Differentiable Simulation. CoRR (2021)
Róbert Szász, Mike Allenspach, Minghao Han, Marco Tognon, Robert K. Katzschmann
Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm. CoRR (2021)
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment. Int. J. Robotics Res. 39 (4) (2020)
Robert K. Katzschmann, Maxime Thieffry, Olivier Goury, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez, Daniela Rus
Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer. RoboSoft (2019)
Bianca S. Homberg, Robert K. Katzschmann, Mehmet Remzi Dogar, Daniela Rus
Robust proprioceptive grasping with a soft robot hand. Auton. Robots 43 (3) (2019)
Robert K. Katzschmann, Cosimo Della Santina, Yasunori Toshimitsu, Antonio Bicchi, Daniela Rus
Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model. RoboSoft (2019)
Ryan L. Truby, Robert K. Katzschmann, Jennifer A. Lewis, Daniela Rus
Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation. RoboSoft (2019)
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Dynamic control of soft robots interacting with the environment. RoboSoft (2018)
Hsueh-Cheng Wang, Robert K. Katzschmann, Santani Teng, Brandon Araki, Laura Giarré, Daniela Rus
Enabling independent navigation for visually impaired people through a wearable vision-based feedback system. ICRA (2017)
Robert K. Katzschmann, Austin de Maille, David L. Dorhout, Daniela Rus
Cyclic hydraulic actuation for soft robotic devices. IROS (2016)
Robert MacCurdy, Robert K. Katzschmann, Youbin Kim, Daniela Rus
Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids. ICRA (2016)
Bianca S. Homberg, Robert K. Katzschmann, Mehmet Remzi Dogar, Daniela Rus
Haptic identification of objects using a modular soft robotic gripper. IROS (2015)
Shuguang Li, Robert K. Katzschmann, Daniela Rus
A soft cube capable of controllable continuous jumping. IROS (2015)
Joseph DelPreto, Robert K. Katzschmann, Robert MacCurdy, Daniela Rus
A Compact Acoustic Communication Module for Remote Control Underwater. WUWNet (2015)
Andrew D. Marchese, Robert K. Katzschmann, Daniela Rus
Whole arm planning for a soft and highly compliant 2D robotic manipulator. IROS (2014)
Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus
Hydraulic Autonomous Soft Robotic Fish for 3D Swimming. ISER (2014)
Robert K. Katzschmann, Torsten Kröger, Tamim Asfour, Oussama Khatib
Towards online trajectory generation considering robot dynamics and torque limits. IROS (2013)