Yurcich's termination comes near the close of his third year with the Nittany Lions.
Robinson will take over the position after serving for nearly five season as the Aggies' defensive line coach.
The Badgers hadn't given up a set since October 21 before entering Rec Hall Saturday night.
The Nittany Lions lost a war of attrition with the Spartans able to outlast a fatigued defense for the win.
The Nittany Lions gave up 227 rushing yards and three rushing touchdowns against the Wolverines.
Both James Franklin and Drew Allar cited the turnover as a major turning point in Saturday's game.
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