Publications

Journal Publications

M. Dubied*, M. Michelis*, A. Spielberg, R. Katzschmann. “Sim-to-Real for Projective Dynamics on Soft Robots via Differentiability: Meshing, Damping, and Actuation.” IEEE Robotics and Automation Letters (RA-L), 2022. [PDF]

Filippi, F. Garello, O. Yasa, J. Kasamkattil, A. Scherberich, and R. Katzschmann, “Engineered Magnetic Nanocomposites to Modulate Cellular Function.” Small, 2021. [PDF]

Iacob, A. Verma, T. Buchner, Y. Sheima, R. Katzschmann, Dorina M. Opris. “Slot-Die Coating of an On-the-Shelf Polymer with Increased Dielectric Permittivity for Stack Actuators.” ACS Applied Polymer Material, 2021. [PDF]

Della Santina*, R. Katzschmann*, A. Bicchi, D. Rus, “Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots.” International Journal of Robotics Research (IJRR), 2021. [PDF]

C. Della Santina*, R. Katzschmann*, A. Bicchi, D. Rus, “Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment.” International Journal of Robotics Research (IJRR), Jan 2020. [PDF]

C. Della Santina*, R. Katzschmann*, A. Bicchi, D. Rus, “Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment.” International Journal of Robotics Research (IJRR), Jan 2020. [PDF]

R. Katzschmann, J. Delpreto, R. MacCurdy, D. Rus, “ Exploration of Underwater Life with an Acoustically-Controlled Soft Robotic Fish.” Science Robotics, Mar 2018. [PDF]

B. Homberg*, R. Katzschmann*, M. Dogar, D. Rus, “Robust Proprioceptive Grasping with a Soft Robot Hand.” Autonomous Robots, Apr 2018. [PDF]

R. Katzschmann, B. Araki, D. Rus, “Safe Local Navigation for Visually Impaired Users with a Time-of-Flight and Haptic Feedback Device.” IEEE TNSRE, Jan 2018. [PDF]

R. Katzschmann, A. Marchese, D. Rus. “Autonomous Object Manipulation using a Soft Planar Grasping Manipulator.“ Soft Robotics, Dec 2015. [PDF]

A. Marchese, R. Katzschmann, D. Rus. “A Recipe for Soft Fluidic Elastomer Robots.“ Soft Robotics, Mar 2015. [PDF]

Conference Publications (peer-reviewed)

R. Szász, M. Allenspach, M. Han, M. Tognon, R. Katzschmann. “Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm.” IEEE RoboSoft, Edinburgh, UK, 2022. [PDF]

M. Han, J. Euler-Rolle, R. Katzschmann, “DeSKO: Stability-Assured Robust Control with a Deep Stochastic Koopman Operator.” Int. Conference on Learning Representations (ICLR), 2022. [PDF]

M. Ryll, R. Katzschmann. “SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction.” IEEE ICRA, Philadelphia, 2022

Kazemipour, O. Fischer, Y. Toshimitsu, K. Wong, R. Katzschmann. “Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators.” IEEE ICRA, Philadelphia, 2022. [PDF]

Dubied*, M. Michelis*, A. Spielberg, R. Katzschmann. “Sim-to-Real for Projective Dynamics on Soft Robots via Differentiability: Meshing, Damping, and Actuation.” IEEE ICRA, Philadelphia, 2022. [PDF]

Toshimitsu, K. Wong, T. Buchner, T., R. Katzschmann, “SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing.” IEEE IROS, Prague, 2021. [PDF]

P. Ma, T. Du, J. Z. Zhang, K. Wu, A. Spielberg, R. Katzschmann, W. Matusik. ”DiffAqua: a differentiable computational design pipeline for soft underwater swimmers with shape interpolation.” ACM Trans Graph, 2021. [PDF]

Auf der Maur, B. Djambazi, Y. Haberthür, P. Hörmann, A. Kübler, M. Lustenberger, S. Sigrist, O. Vigen, J. Förster, F. Achermann, E. Hampp, R. Katzschmann, R. Siegwart, “RoBoa: Construction and evaluation of a steerable vine robot for search and rescue applications.” IEEE RoboSoft, 2021. [PDF]

R. Katzschmann, M. Thieffry, O. Goury, A. Kruszewski, T.-M. Guerra, C. Duriez, D. Rus, “Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer.” IEEE RoboSoft, Apr. 2019. [PDF]

R. Katzschmann, C. Della Santina, Y. Toshimitsu, A. Bicchi, D. Rus, ” Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model.” IEEE RoboSoft, Apr 2019. [PDF]

R. Truby, R. Katzschmann, J. Lewis, D. Rus, “Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation.” IEEE RoboSoft, Apr 2019. [PDF]

C. Della Santina*, R. Katzschmann*, A. Bicchi, D. Rus, “Dynamic control of soft robots interacting with the environment.” IEEE RoboSoft, Apr 2018. [PDF]

H.-C. Wang*, R. Katzschmann*, B. Araki, S. Teng, L. Giarre, D. Rus, “Enabling Independent Navigation for Visually Impaired People through a Wearable Vision-Based Feedback System.” ICRA, Singapore, 2017. [PDF]

R. Katzschmann, A. de Maille, D. Dorhout, D. Rus, “Cyclic Hydraulic Actuation of Soft Robotic Devices,” IROS, Daejeon, Oct. 2016. [PDF]

R. MacCurdy, R. Katzschmann, Y. Kim, and D. Rus, “Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids.” ICRA, Stockholm, 2016. [PDF]

J. Delpreto, R. Katzschmann, R. Maccurdy, and D. Rus, “A Compact Acoustic Communication Module for Remote Control Underwater.” Invited: ACM WUWNET, Washington D.C., USA, Oct. 2015. [PDF]

B. Homberg*, R. Katzschmann*, M. Dogar, and D. Rus, “Haptic Identification of Objects using a Modular Soft Robotic Gripper,” IROS, Hamburg, Sept. 2015. [PDF]

S. Li, R. Katzschmann, D. Rus, “A soft cube capable of controllable continuous jumping,” IROS, Hamburg, Sept. 2015. [PDF]

A. Marchese, R. Katzschmann, D. Rus. “Whole Arm Planning for a Soft and Highly Compliant 2D Robotic Manipulator.“ IROS, Chicago, IL, USA, September 2014. [PDF]

R. Katzschmann, A. Marchese, D. Rus. “Hydraulic Autonomous Soft Robotic Fish for 3D Swimming.“ ISER, Marrakech, Morocco, June 2014. [PDF]

R. Katzschmann, T. Kröger, T. Asfour and O. Khatib.“Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits.“ IROS, Tokyo, Japan, Nov. 2013. [PDF]

* co-first authors

Thesis Works

R. Katzschmann. “Building and Controlling Fluidically Actuated Soft Robots: From Open Loop to Model-based Control.” Massachusetts Institute of Technology, USA, May 2018. [PDF]

R. Katzschmann. “Dynamic Online Trajectory Generation Acceleration Capabilities Considered for Real-Time Path Planning.” Diplomarbeit (~Master’s Thesis), Stanford University, USA and Karlsruhe Institute of Technology, Germany, Jan. 2013. [PDF]

R. Katzschmann. “Kompensation des Einflusses eines Mehrfingergreifers auf einen Kraft-Momenten-Sensor.” Studienarbeit (~Bachelor’s Thesis), Karlsruhe Institute of Technology, Germany, May, 2011. [PDF]