Hamline hit 9-of-16 from outside the arc, including making 6-of-8 in the second half. The Pipers shot 50% for the game, compared to St. Catherine's 35% shooting.
The Wildcats opened with a 5-0 lead, and lead until 11:20 when Robinson drained a three-pointer to tie it up at 16-16.
The Pipers' first lead, 18-16, came a minute later on a Wilkowski layup.
The teams battled back and forth and put another pair of tied scores on the scoreboard until Kara Poirier (So., Eau Claire, Wis.) sank a trey with 13 seconds left in the half. That basket gave the Pipers a two-point lead, 34-32, at the break.
The beginning of the second half saw the two teams exchange several leads, with the hosts leading by as many as six.
Down by six, 60-54, with just over eight minutes to play, Wilkowski and Robinson ignited a 16-to-2 run that put the Pipers up by 10, 72-62, with 90 seconds remaining in the game.
Hamline added four more free throws before the final buzzer as they won by nine.
Wilkowski and Robinson's 21 points apiece were complimented by 13 from Poirier and 10 from Nikki Klinck (Sr., Hibbing, Minn.). Steph Rice (Jr., Staples, Minn.) led the Piper rebounding with seven boards.
The Pipers are now 7-11, 6-9 MIAC while the Wildcats are 4-13, 3-11 MIAC. Hamline will host Augsburg on Monday, January 31, at 7:30 p.m.