Robert K. Katzschmann

According to our database, Robert K. Katzschmann authored at least 70 papers between 2013 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Sim-to-Real of Soft Robots With Learned Residual Physics.

Junpeng Gao, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann

IEEE Robotics Autom. Lett., October, 2024

Vision-Based Online Key Point Estimation of Deformable Robots.

Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann

Adv. Intell. Syst., October, 2024

A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles.

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

Adv. Intell. Syst., June, 2024

Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots.

Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann

IEEE Robotics Autom. Lett., 2024

PokeFlex: A Real-World Dataset of Deformable Objects for Robotics.

Jan Obrist, Miguel Zamora, Hehui Zheng, Ronan Hinchet, Firat Ozdemir, Juan Zarate, Robert K. Katzschmann, Stelian Coros

CoRR, 2024

PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation.

Jan Obrist, Miguel Zamora, Hehui Zheng, Juan Zarate, Robert K. Katzschmann, Stelian Coros

CoRR, 2024

Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints.

Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann

CoRR, 2024

An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild.

Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Curdin Cavelti, Robert K. Katzschmann

CoRR, 2024

Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand.

Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann

CoRR, 2024

High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators.

Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour, Robert K. Katzschmann

CoRR, 2024

Fast Point Cloud to Mesh Reconstruction for Deformable Object Tracking.

Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann

Proceedings of the Robotics, Computer Vision and Intelligent Systems, 2024

Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation.

Wensi Zhang, Barnabas Gavin Cangan, Thomas Buchner, Alexander M. Kübler, Ramon Asmus, Robert K. Katzschmann

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm.

Thomas Buchner, Stefan Weirich, Alexander M. Kübler, Wojciech Matusik, Robert K. Katzschmann

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Bilayered Biofabrication Unlocks the Potential of Skeletal Muscle for Biohybrid Soft Robots.

Aiste Balciunaite, Oncay Yasa, Miriam Filippi, Mike Yan Michelis, Robert K. Katzschmann

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

A Rapid and Robust Tendon-Driven Robotic Hand for Human-Robot Interactions Playing Rock-Paper-Scissors.

Xiang Deng, Stefan Weirich, Robert K. Katzschmann, Tobi Delbruck

Proceedings of the 33rd IEEE International Conference on Robot and Human Interactive Communication, 2024

Sensorized Soft Skin for Dexterous Robotic Hands.

Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, Robert K. Katzschmann

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder.

Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Beyond Regular Grids: Fourier-Based Neural Operators on Arbitrary Domains.

Levi E. Lingsch, Mike Yan Michelis, Emmanuel de Bézenac, Sirani M. Perera, Robert K. Katzschmann, Siddhartha Mishra

Proceedings of the Forty-first International Conference on Machine Learning, 2024

Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on an Anthropomorphic Robotic Hand.

Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

2023

An Overview of Soft Robotics.

Oncay Yasa, Yasunori Toshimitsu, Mike Yan Michelis, Lewis S. Jones, Miriam Filippi, Thomas Buchner, Robert K. Katzschmann

Annu. Rev. Control. Robotics Auton. Syst., May, 2023

Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks.

Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann

Adv. Intell. Syst., January, 2023

Meta-Learning via Classifier(-free) Diffusion Guidance.

Elvis Nava, Seijin Kobayashi, Yifei Yin, Robert K. Katzschmann, Benjamin F. Grewe

Trans. Mach. Learn. Res., 2023

Towards a Physics-Based Model for Steerable Eversion Growing Robots.

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

IEEE Robotics Autom. Lett., 2023

Low Voltage Electrohydraulic Actuators for Untethered Robotics.

Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour, Mike Yan Michelis, Thomas Buchner, Ronan Hinchet, Robert K. Katzschmann

CoRR, 2023

Vandermonde Neural Operators.

Levi E. Lingsch, Mike Yan Michelis, Sirani M. Perera, Robert K. Katzschmann, Siddhartha Mishra

CoRR, 2023

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process.

Antonia Georgopoulou, Stijn Hamelryckx, Kai Junge, Louisa Marie Eckey, Simon Rogler, Robert K. Katzschmann, Josie Hughes, Frank Clemens

Proceedings of the IEEE International Conference on Soft Robotics, 2023

Autonomous Marker-Less Rapid Aerial Grasping.

Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann

IROS, 2023

Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.

Jeong Hun Lee, Mike Yan Michelis, Robert K. Katzschmann, Zachary Manchester

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints.

Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

2022

Sim-to-Real for Soft Robots Using Differentiable FEM: Recipes for Meshing, Damping, and Actuation.

Mathieu Dubied, Mike Yan Michelis, Andrew Spielberg, Robert Kevin Katzschmann

IEEE Robotics Autom. Lett., 2022

Autonomous Vision-based Rapid Aerial Grasping.

Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann

CoRR, 2022

ViSE: Vision-Based 3D Real-Time Shape Estimation of Continuously Deformable Robots.

Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann

CoRR, 2022

Meta-Learning via Classifier(-free) Guidance.

Elvis Nava, Seijin Kobayashi, Yifei Yin, Robert K. Katzschmann, Benjamin F. Grewe

CoRR, 2022

Physics-constrained Unsupervised Learning of Partial Differential Equations using Meshes.

Mike Yan Michelis, Robert K. Katzschmann

CoRR, 2022

Sim-to-Real for Projective Dynamics on Soft Robots via Differentiability: Meshing, Damping, and Actuation.

Mathieu Dubied, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann

CoRR, 2022

Creation of a Modular Soft Robotic Fish Testing Platform.

Yu Zhang, Robert K. Katzschmann

CoRR, 2022

Dynamic Control of Soft Manipulators to Perform Real-World Tasks.

Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann

CoRR, 2022

Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm.

Róbert Szász, Mike Allenspach, Minghao Han, Marco Tognon, Robert K. Katzschmann

Proceedings of the 5th IEEE International Conference on Soft Robotics, 2022

Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation.

Dario Tscholl, Stephan-Daniel Gravert, Aurel X. Appius, Robert K. Katzschmann

Proceedings of the Robotics Research, 2022

Sim2Real for Soft Robotic Fish via Differentiable Simulation.

John Z. Zhang, Yu Zhang, Pingchuan Ma, Elvis Nava, Tao Du, Philip Arm, Wojciech Matusik, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots.

Philipp Wand, Oliver Fischer, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints.

Filippo A. Spinelli, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs.

Stephan-Daniel Gravert, Mike Yan Michelis, Simon Rogler, Dario Tscholl, Thomas Buchner, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing.

Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots.

Aurel X. Appius, Erik Bauer, Marc Blöchlinger, Aashi Kalra, Robin Oberson, Arman Raayatsanati, Pascal Strauch, Sarath Suresh, Marco von Salis, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction.

Markus Ryll, Robert K. Katzschmann

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators.

Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models.

Elvis Nava, John Z. Zhang, Mike Yan Michelis, Tao Du, Pingchuan Ma, Benjamin F. Grewe, Wojciech Matusik, Robert Kevin Katzschmann

Proceedings of the International Conference on Machine Learning, 2022

DeSKO: Stability-Assured Robust Control with a Deep Stochastic Koopman Operator.

Minghao Han, Jacob Euler-Rolle, Robert K. Katzschmann

Proceedings of the Tenth International Conference on Learning Representations, 2022

2021

DiffAqua: a differentiable computational design pipeline for soft underwater swimmers with shape interpolation.

Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, Wojciech Matusik

ACM Trans. Graph., 2021

Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots.

Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus

Int. J. Robotics Res., 2021

Learning Material Parameters and Hydrodynamics of Soft Robotic Fish via Differentiable Simulation.

John Z. Zhang, Yu Zhang, Pingchuan Ma, Elvis Nava, Tao Du, Philip Arm, Wojciech Matusik, Robert K. Katzschmann

CoRR, 2021

A Robust Adaptive Approach to Dynamic Control of Soft Continuum Manipulators.

Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann

CoRR, 2021

RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications.

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

Proceedings of the 4th IEEE International Conference on Soft Robotics, 2021

SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing.

Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

2020

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment.

Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus

Int. J. Robotics Res., 2020

2019

Robust proprioceptive grasping with a soft robot hand.

Bianca S. Homberg, Robert K. Katzschmann, Mehmet Remzi Dogar, Daniela Rus

Auton. Robots, 2019

Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation.

Ryan L. Truby, Robert K. Katzschmann, Jennifer A. Lewis, Daniela Rus

Proceedings of the IEEE International Conference on Soft Robotics, 2019

Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer.

Robert K. Katzschmann, Maxime Thieffry, Olivier Goury, Alexandre Kruszewski, Thierry-Marie Guerra, Christian Duriez, Daniela Rus

Proceedings of the IEEE International Conference on Soft Robotics, 2019

Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model.

Robert K. Katzschmann, Cosimo Della Santina, Yasunori Toshimitsu, Antonio Bicchi, Daniela Rus

Proceedings of the IEEE International Conference on Soft Robotics, 2019

2018

Dynamic control of soft robots interacting with the environment.

Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus

Proceedings of the IEEE International Conference on Soft Robotics, 2018

2017

Enabling independent navigation for visually impaired people through a wearable vision-based feedback system.

Hsueh-Cheng Wang, Robert K. Katzschmann, Santani Teng, Brandon Araki, Laura Giarré, Daniela Rus

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Cyclic hydraulic actuation for soft robotic devices.

Robert K. Katzschmann, Austin de Maille, David L. Dorhout, Daniela Rus

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids.

Robert MacCurdy, Robert K. Katzschmann, Youbin Kim, Daniela Rus

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

A Compact Acoustic Communication Module for Remote Control Underwater.

Joseph DelPreto, Robert K. Katzschmann, Robert MacCurdy, Daniela Rus

Proceedings of the 10th International Conference on Underwater Networks & Systems, 2015

A soft cube capable of controllable continuous jumping.

Shuguang Li, Robert K. Katzschmann, Daniela Rus

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Haptic identification of objects using a modular soft robotic gripper.

Bianca S. Homberg, Robert K. Katzschmann, Mehmet Remzi Dogar, Daniela Rus

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

2014

Hydraulic Autonomous Soft Robotic Fish for 3D Swimming.

Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus

Proceedings of the Experimental Robotics, 2014

Whole arm planning for a soft and highly compliant 2D robotic manipulator.

Andrew D. Marchese, Robert K. Katzschmann, Daniela Rus

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013

Towards online trajectory generation considering robot dynamics and torque limits.

Robert K. Katzschmann, Torsten Kröger, Tamim Asfour, Oussama Khatib

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013