The Tartan Army must beat Serbia in Belgrade in the play-off final on Thursday.
"We're desperate for it," Robertson said of the chance to quality.
"We want it and can feel how much our nation wants it. Of course there is pressure but we have to use that to our advantage.
"I was four when Scotland last got to a tournament and my whole generation has missed out on that. It definitely gives us an added incentive to put a smile on the faces of five million people back home.
"We also want to do it for the manager. We know how much he missed out on it as a player and how much it would mean to him."