Publications

Summary

– 49 scientific publications: 16 journal, 1 editorial, 1 spotlight, 2 book chapter, 21 peer-reviewed conference, 2 workshop proposal, 6 symposium articles
– 9 invited talks and lectures
– h-index: 12 (Google Scholar), 9 (Scopus)
– Citations: 467 (Google Scholar), 291 (Scopus)
*Authors with equal contributions

Journal Articles

  • S.M.H. Sadati, Z. Mitros, R. Henry, L. da Cruz, C. Bergeles, “Real-Time Dynamics of Concentric Tube Robots with Reduced-Order Kinematics Based on Shape Interpolation”, IEEE RA-L Journal & ICRA Conference, 2022
  • Zhenhua Yu, S.M.Hadi Sadati,  Helmut Hause, Peter R.N. Childs, Thrishantha Nanayakkara, “A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation” IEEE RA-L &RoboSoft Conference, 2022
  • K. Joymungul, Z. Mitros, L. da Cruz, C. Bergeles, and S.M.H. Sadati, “Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery”, Front. Robot. AI, vol. 8, p. 752290, Nov. 2021
  • Z. Mittros, S.M.H. Sadati, R. Henry, L. da Cruz, C. Bergeles, “From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots”, Annual Review of Control Robotics and Autonomous Systems, 2021
  • P. Berthet-Rayne, S.M.H. Sadati, N. Patel, S. Giannarou, D. R. Leff, C. Bergeles, “MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection”, IEEE Robotics and Automation Letter and IEEE International Conference on Robotics and Automation (ICRA), 2021
  • S.M.H. Sadati, S. E. Naghibi, A. Shiva, S. Zschaler, C. Rucker, M. Brendan, L. Renson, K. Althoefer, T. Nanayakkara, H. Hauser and I. Walker., “TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced Order Models.” International Journal of Robotics Research (IJRR), 2020
  • S.M.H. Sadati*, A. Shiva*, S. E. Naghibi, C. Rucker, C. Bergeles, I. Walker, H. Hauser, K. Althoefer and T. Nanayakkara., “Real-time Shape and Tip Force Estimation of a Continuum Appendage from Base Load Readings: A Stiffness Imaging Application”, IEEE Robotics & Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA), 2020
  • Z. Mitros, S.M.H. Sadati, C. Seneci, E. Bloch, K. Leibrandt, M. Khadem, L da Cruz, C. Bergeles, “Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot”, IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Intelligent Robots and Systems (IROS), 2020
  • A. Shiva, S.M.H. Sadati, Y. Noh, J. Fras, A. Ataka, H. Wurdemann, H. Hauser, I. D. Walker, T. Nanayakkara, K. Althoefer., “Elasticity vs. Hyperelasticity Considerations in Quasi-Static Model for Real-time Position & Force Estimation of a Soft Manipulator.” Soft Robotics (SoRo), 2019
  • Hasitha Wegiriya, Nicolas Herzig, Sara-Adela Abad, S.M.Hadi Sadati and Thishantha Nanayakkara., “Information Gain in a Stiffness Controllable Multimodal Whisker Follicle.” IEEE Sensors, 2019
  • S.M.H. Sadati, S. E. Naghibi, A. Shiva, Y. Noh, A. Qupta, I. D. Walker, K. Althoefer, T. Nanayakkara, “Three-Dimensional-Printable Thermoactive Helical Interface with Decentralized Morphological Stiffness Control for Continuum Manipulators”, IEEE Robotics & Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA), 2018
  • S.M.H. Sadat, S. E. Naghibi, I. D. Walker, K. Althoefer, T. Nanayakkara, “Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods”, IEEE Robotics and Automation Letters, 2018
  • S. E. Naghibi, S. Karabasov, M. A. Jalali, S.M.H. Sadati, “Fast spectral solutions of the double-gyre problem in a turbulent flow regime.” Applied Mathematical Modelling, 2018
  • S.M.Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara. “A geometry deformation model for braided continuum manipulators.” Frontiers in Robotics and AI, 2017
  • S.M.Hadi Sadati, M. Naraghi, A. R. Ohadi Hamedani, “Optimum Design, Build and Experiment of a Passive Walking Biped: Effects of Structural Parameters on Efficiency, Stability and Robustness on Uneven Trains.” Modares Mechanical Engineering Journal, vol. 12, No. 6, pp. 52-68 (in Persian), 2012

Editorial & Spotlight Articles

  • S.M.Hadi Sadati, Perla Maiolino,  Fumiya Iida, Thrishantha Nanayakkara and  Helmut Hauser, “Editorial: Current Advances in Soft Robotics – Best Papers from RoboSoft 2018”, Frontiers in Robotics and AI, 2020
  • S. G. Nurzaman, S.M.H. Sadati, M. Eldiwiny, F. Iida, “Soft Robotics: The Journey Thus Far and the Challenges Ahead [TC Spotlight]”, IEEE Robotics and Automation Magazine, 2020

Book Chapters

  • S.M.Hadi Sadati*, Marwa ElDiwiny*, Surya Nurzaman, Fumiya Iida, Thrishantha Nanayakkara, “Embodied Intelligence & Morphological Computation in Soft Robotics Community: Collaborations, Coordination, and Perspective”, Chapter in the E-Book: “Embodied Intelligence”, 2022 (in-print)
  • D Guevara Mosquera, S.M.H. Sadati, KA Althoefer, T Nanayakkara, “Smart Hydrogel for Stiffness Controllable Continuum Manipulators: A Conceptual Design”, Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFFFLOP Approach, River Publishers Series in Automation, Control and Robotics, Denmark, ISBN: 9788793519725, 2018

Peer-Reviewed Conference Articles

  • Zisos Mitros, S.M.Hadi Sadati, Sotirios Nousias, Lyndon da Cruz, Christos Bergeles, “Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots”, IEEE International Conference on Robotics and Automation (ICRA), 2022
  • Zhenhua Yu, S.M.Hadi Sadati, Hasitha Wegiriya, Peter Childs, Thrishantha Nanayakkara, “A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2021
  • C. Larrea, P. Berthet-Rayne, S.M.H. Sadati, D. R. Leff, C. Bergeles, I. Georgilas, “Growing Robotic Endoscope for early Breast Cancer Detection: Robot Motion Control”, Towards Autonomous Robotic Systems Conference (TAROS), 2021
  • Kayode Sonaike*, S.M.Hadi Sadati*, Christos Bergeles, Ian D. Walker, “Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR)”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2020
  • S.M.Hadi Sadati, Steffen Zschaler, Christos Bergeles, “A Matlab-Internal DSL for Modelling Hybrid Rigid-Continuum Robots with TMTDyn.”, 6th Workshop on Model-Driven Robot Software Engineering (MORSE) Munich, Germany, 2019
  • S.M.H. Sadati, A. Shiva, S. E. Naghibi, C. Rucker, C, Bergeles, L. Renson, K. Althoefer, T. Nanayakkara, H. Hauser and I. Walker., “Reduced Order vs. Discretized Lumped System Models for Continuum Manipulators: New Methods and a Comparative Study Based on Experiments.” Robotics, Science and Systems (RSS) Conference, Freiburg, Germany, 2019
  • S.M.H. Sadati, W Thomas, “Toward Computing with Spider Webs: Computational Setup Realization”, Living Machines Conference (LM 2018), Paris, France, 2018
  • S.M.H. Sadati, S. E. Naghibi, K. Althoefer, T. Nanayakkara, “Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement”, IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy, 2018
  • S.M.H. Sadati, A. Meghdari, “Singularity-Free Planning for a Robot Cat Free-Fall with Control Delay: Role of Limbs and Tail”, IEEE Int. Conference on Mechanical and Aerospace Engineering (ICMAE), 2017 – Winner of Excellent Oral Presentation Award in Robot System Design and Control Session
  • S.M.H. Sadati, S. E. Naghibi, A. Shiva, I. D. Walker, K. Althoefer, T. Nanayakkara, “Continuum Manipulators Mechanics, A Comparative Study of Six Methods with Experiments”, 18th Towards Autonomous Robotic Systems (TAROS), 2017
  • H. Afrisal*, S.M.H. Sadati*, T. Nanayakkara, “A Bio-Inspired Electro-Active Velcro Mechanism Using Shape Memory Alloy for Wearable and Stiffness Controllable Layers”, Information and Automation for Sustainability (ICIAfS), 9th Intl. Conf. on IEEE, 2016
  • S.M.H. Sadati, A. Shiva, A. Ataka, S. E. Naghibi, I. D Walker, K. Althoefer, T. Nanayakkara, “A Geometry Deformation Model for Compound Continuum Manipulators with External Loading”, IEEE Int. Conference on Robotics and Automation (ICRA), 2016
  • S.M.H. Sadati, Y. Noh, S. E. Naghibi, K. Althoefer, T. Nanayakkara, “Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming”. Intelligent Robotics and Applications, 8th International Conference (ICIRA), Portsmouth, UK, Springer, 2015
  • S.M.H. Sadati, S. E. Naghibi, M. Naraghi. “An Automatic Algorithm to Derive Linear Vector Form of Lagrangian Equation of Motion with Collision and Constraint.” Procedia Computer Sci. 76:217-222., 2015
  • M. Zheng, S.M.H. Sadati, P. Ghalamchi, T. Nanayakkara, “Passive dynamics of high frequency bat wing flapping with an anisotropic membrane.” Information and Automation for Sustainability (ICIAfS), 7th Int. Conf. on IEEE, 2014 – Winner of Best Student Paper Award
  • S.M.H. Sadati, M. Ghasimi, M. A. Abbaspour, “Analysis, Modeling, and Optimization of Tooth Modification in High Speed Helical Gears”, 5th Annual Conference on Rotating Equipment in Oil and Power Industries, Rotating Equipment, Tehran, Iran, January 21-22, (Poster presentation, in Persian), 2014
  • Ali Meghdari, S.M.Hadi Sadati, ” Cat Landing on Rigid and Flexible Surfaces: Semi-Flat Multi Impact Modeling and Path Planning in Presence of Constraints.” Advances in Nano, Biomechanics, Robotics, and Energy Research (ANBRE13), Int’I Assoc. of Structural Engineering & Mechanics (IASEM), 2013
  • S.M.H. Sadati, M. Borgheinejad, H. Fooladi, M. Naraghi, A. R. Ohadi Hamedani, “Optimum Design, Manufacturing and Experiment of a Passive Walking Biped: Effects of Structural Parameters on Efficiency, Stability and Robustness on Uneven Trains.” Applied Mechanics and Materials. Vol. 307. Trans Tech Publications, 2013
  • R. Sharifi, H. Ghariblou, S.M.H. Sadati, “Dynamical Modeling and Optimization of Movement for a Cable Driven Base Robotic Arm Manipulator in an Environment with Obstacles”, The Int. Conf. on Mech. Eng. & Adv. Tech. (ICMEAT 2012), Isfahan, Iran (in Persian), 2012
  • S.M.H. Sadati, M. Naraghi, A. R. Ohadi Hamedani, “Analysis and Optimization of a passive Walking Biped”, 19th Annual Conf. on Mech. Eng. in Iran (ISME), Birjand, Iran, (in Persian), 2011
  • S.M.H. Sadati, A. R. Ohadi Hamedani, M. Naraghi, “Design and Build of a Biped Passive Walker: Investigating the Effects of Structural Parameters on Performance, Efficiency and Gait Stability”, 19th Annual Conf. on Mech. Eng. in Iran (ISME), Birjand, Iran (in Persian), 2011

Workshop Organisation

S.M.Hadi Sadati, Anup T Mathew, James Bern, You Wu, Robert Katzschmann, Josie Hughes, “Software for Soft Robotics Research”, IEEE Soft Robotics Conference, 2022

T. G. Thuruthel, C. Della Santina, S.M.H. Sadati, F. Renda, C. Laschi, “Application-Oriented Modelling and Control of Soft Robots”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2020

Symposium Articles

  • Katie Zuo, Benjamin Jackson, Ross Henry, Christos Bergeles, S.M.Hadi Sadati, “Finite Element Dynamics of a Concentric Tube Robot Motion and Interaction with Environment Using SOFA-framework”, HAMLYN Symposium, 2022
  • M. D. I. Reyzabal, S.M.H. Sadati, L. D. Cruz, C. Bergeles, “Implementing Dynamic Active Constraints for Safe Remote Robotic Surgery using SOFA”, International SOFA Symposium, 2020
  • ASAME robotic team members and S.M.H. Sadati, “ASAME 3: Team Description Paper”, RoboCup World Competition, Singapore, Singapore, 2010
  • ASAME robotic team members and S.M.H. Sadati, “ASAME 2: Team Description Paper”, Int. Robotic Festival (Iran Open), Tehran, Iran (in Persian), 2010
  • ASAME robotic team members and S.M.H. Sadati, “ASAME 2: Team Description Paper”, RoboCup World Competition, Graz, Austria, 2009 – 4th Place in Best Manipulator Design Technical Challenge
  • ASAME robotic team members and S.M.H. Sadati, “ASAME 1: Team Description Paper”, Int. Robotic Festival (Iran Open), Qazvin, Iran (in Persian), 2009 – 4th Place in Real Rescue Robot League