Publications

Journal Publications

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) (in review), Apr 2019.

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. 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]