The Liverpool defender is hoping to lead his nation to their first major tournament in over two decades as they face Serbia in a one-off game to reach the delayed finals next summer.
Robertson said: "We're desperate for it.
"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."
Robertson revealed that he has not even thought about the prospect of leading Scotland at the tournament and is only focusing on the game in Belgrade.
He said: "I won't let myself think about that until it's done.
"Last month was big for us - the win on penalties then two big three points in the Nations League. Everyone has a smile on their face and we take that feelgood factor to Serbia.
"We've found a way of playing and getting results. That makes sure we are confident.
"Serbia are an excellent team full of quality. They're probably favourites, but sometimes that can play into our hands. We've been underdogs before and produced good results."