Publications

Journal & Editorial Articles
[1] 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
[2] S.M.H. Sadati, A. Shiva, S. E. Naghibi, C. Ruker, 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
[3] 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
[4] 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
[5] Ali Shiva, S.M.Hadi Sadati, Yohan Noh, Jane Fras, Ahmad Ataka, Helge Wurdemann, Helmut Hauser, Ian D. Walker, Thrishantha Nanayakkara, Kaspar Althoefer., “Elasticity vs. Hyperelasticity Considerations in Quasi-Static Model for Real-time Position & Force Estimation of a Soft Manipulator.” Soft Robotics, 2019
[6] Sara-Adela Abad, Nicolas Herzig, S.M.Hadi Sadati, and Thrishantha Nanayakkara., “The dynamics of a Bioinspired Hoof on the Slip Reduction.” Transaction on Robotics, 2019
[7] 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 Journal, 2019
[8] 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
[9] 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
[10] 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
[11] 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
[12] 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

Book Chapter
[13] 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
[14] Kayode Sonaike and 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
[15] 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
[16] 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
[17] S.M.H. Sadati, W Thomas, “Toward Computing with Spider Webs: Computational Setup Realization”, Living Machines Conference (LM 2018), Paris, France, 2018
[18] 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 2018), Livorno, Italy, 2018
[19] S.M.H. Sadati, A. Meghdari, “Singularity-Free Planning for a Robot Cat Free-Fall with Control Delay: Role of Limbs and Tail”, Int. Conference on Mechanical and Aerospace Engineering (ICMAE), IEEE, (Winner of Excellent Oral Presentation Award in Robot System Design and Control Session), 2017
[20] 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
[21] H. Afrisal and 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), 2016, 9th International Conference on. IEEE, 2016
[22] 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
[23] 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 Robotic and Applications, Springer., 2015
[24] 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
[25] 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. (Winner of Best Student Paper Award), 2014
[26] 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
[27] 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
[28] 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 2014, Tehran, Iran, January 21-22, (Poster presentation, in Persian), 2012
[29] 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
[30] 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 2011, Birjand, Iran, (in Persian), 2011
[31] 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 2011, Birjand, Iran (in Persian), 2011

Workshop Proposals
[32] 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

Workshop & Symposium Articles
[33] ASAME robotic team members and S.M.H. Sadati, “ASAME 3: Team Description Paper”, RoboCup World Competition, Singapore, Singapore, 2010
[34] ASAME robotic team members and S.M.H. Sadati, “ASAME 2: Team Description Paper”, Int. Robotic Festival, Iran Open, Tehran, Iran (in Persian), 2010
[35] ASAME robotic team members and S.M.H. Sadati, “ASAME 2: Team Description Paper”, RoboCup World Competition, Graz, Austria (Winner of the 4th Place in Best Manipulator Design Technical Challenge), 2010
[36] ASAME robotic team members and S.M.H. Sadati, “ASAME 1: Team Description Paper”, Int. Robotic Festival, Iran Open, Qazvin, Iran (in Persian – Winner of the 4th Place in Real Rescue Robot League), 2010