Conference Publications (Peer-reviewed)

J. H. Lee, M. Y. Michelis, R. K. Katzschmann, Z. Manchester, “Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.” ICRA, May 2023. DOI: external page10.48550/arXiv.2301.07028

A. Raayatsanati, M. Y. Michelis, R. K. Katzschmann, “Real-Time 2D Surrogate for Quadcopter-Induced Aerodynamic Effects.” ICRA, May 2023.

J. Zhang, Y. Zhang, P. Ma, E. Nava, T. Du, P. Arm, W. Matusik, R. K. Katzschmann, “Learning Material Parameters and Hydrodynamics of Soft Robotic Fish via Differentiable Simulation.” IROS, Oct 2022. DOI: external page10.48550/arXiv.2109.14855

S. Gravert, M. Y. Michelis, S. Rogler, D. Tscholl, T. Buchner, R. K. Katzschmann, “Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs.” IROS, Oct 2022. DOI: external page10.48550/arXiv.2208.00731

P. Wand, O. Fischer, R. K. Katzschmann, “Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots.” IROS, Oct 2022. DOI: external page10.48550/arXiv.2204.07630

A. X. Appius, E. Bauer, M. Blöchlinger, A. Kalra, R. Oberson, A. Raayatsanati, P. Strauch, S. S. Menon, M. von Salis, R. K. Katzschmann,“RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots.” IROS, Oct 2022. DOI: external page10.48550/arXiv.2203.03018

B. G. Cangan, S. E. Navarro, Y. Bai, Y. Zhang, C. Duriez, R. K. Katzschmann, “Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing.” IROS, Oct 2022. DOI: external page10.48550/arXiv.2206.11626

F. A. Spinelli, R. K. Katzschmann, “A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints.” IROS, Oct 2022. DOI: external page10.48550/arXiv.2204.13710

D. Tscholl, S. Gravert, A. X. Appius, R. K. Katzschmann, “Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation.” ISRR, Sep 2022. DOI: external page10.48550/arXiv.2205.13011

E. Nava, J. Z. Zhang, M. Y. Michelis, T. Du, P. Ma, B. F. Grewe, W. Matusik, R. K. Katzschmann, “Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models.” ICML, Jun 2022. DOI: external page10.48550/arXiv.2204.12584

A. Kazemipour, O. Fischer, Y. Toshimitsu, K. W. Wong, R. K. Katzschmann, “Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators.” ICRA, May 2022. DOI: external page10.48550/arXiv.2109.11388

M. Ryll, R. K. Katzschmann, “SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction.” ICRA, May 2022. DOI: external page10.48550/arXiv.2204.02165

M. Han, J. Euler-Rolle, R. K. Katzschmann, “DeSKO: Stability-assured robust control with a deep stochastic koopman operator.” ICLR, Sep 2021. external pageOpenReview

R. Szász, M. Allenspach, M. Han, M. Tognon, R. K. Katzschmann, “Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm.” RoboSoft, Apr 2021. DOI: external page10.48550/arXiv.2111.03111

P. Auf der Maur, B. Djambazi, Y. Haberthür, P. Hörmann, A. Kübler, M. Lustenberger, S. Sigrist, O. Vigen, J. Förster, F. Achermann, E. Hampp, R. K. Katzschmann, R. Siegwart, “RoBoa: Construction and evaluation of a steerable vine robot for search and rescue applications.” RoboSoft, Apr 2021. DOI Arxiv: external page10.48550/arXiv.2203.15145, DOI IEEE: external page10.1109/RoboSoft51838.2021.9479192

Y. Toshimitsu, K. W. Wong, T. Buchner, R. K. Katzschmann, “SoPrA: Fabrication & dynamical modeling of a scalable soft continuum robotic arm with integrated proprioceptive sensing.” IROS, Jan 2021. DOI: external page10.48550/arXiv.2103.10726

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.” RoboSoft, Apr. 2019. [DownloadDownload Paper (PDF, 819 KB)]

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.” RoboSoft, Apr 2019. [DownloadDownload Paper (PDF, 2 MB)]

R. Truby, R. Katzschmann, J. Lewis, D. Rus, “Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation.” RoboSoft, Apr 2019. [DownloadDownload Paper (PDF, 5 MB)]

C. Della Santina*, R. Katzschmann*, A. Bicchi, D. Rus, “Dynamic control of soft robots interacting with the environment.” RoboSoft, Apr 2018. [DownloadDownload Paper (PDF, 1.3 MB)]

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. [DownloadDownload Paper (PDF, 764 KB)]

R. Katzschmann, A. de Maille, D. Dorhout, D. Rus, “Cyclic Hydraulic Actuation of Soft Robotic Devices.” IROS, Daejeon, Oct 2016. [DownloadDownload Paper (PDF, 3.9 MB)]

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. [DownloadDownload Paper (PDF, 1.7 MB)]

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. [DownloadDownload Paper (PDF, 1.1 MB)]

B. Homberg*, R. Katzschmann*, M. Dogar, and D. Rus, “Haptic Identification of Objects using a Modular Soft Robotic Gripper.” IROS, Hamburg, Sep 2015. [DownloadDownload Paper (PDF, 3 MB)]

S. Li, R. Katzschmann, D. Rus, “A soft cube capable of controllable continuous jumping.” IROS, Sep 2015. [DownloadDownload Paper (PDF, 1.5 MB)]

A. Marchese, R. Katzschmann, D. Rus, “Whole Arm Planning for a Soft and Highly Compliant 2D Robotic Manipulator.“ IROS, Sep 2014. [DownloadDownload Paper (PDF, 305 KB)]

R. Katzschmann, A. Marchese, D. Rus, “Hydraulic Autonomous Soft Robotic Fish for 3D Swimming.“ ISER, Jun 2014. [DownloadDownload Paper (PDF, 951 KB)]

R. Katzschmann, T. Kröger, T. Asfour and O. Khatib, “Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits.“ IROS, Nov 2013. [DownloadDownload Paper (PDF, 1.3 MB)]