Research
Soft/Continuum Robotics, Medical Robotics, Embodied/Physical Intelligence, Artificial/Collective Intelligence, Bioinspired Robotics, System Dynamics/ Control/ Planning/ Automation
Interests
I am Dr. S.M.Hadi Sadati, the director of the newly established ACE.Pi group (Artificial, Embodied, and Collective intelligence), in the Centre for Advanced Robotics at QMUL (ARQ). At ACE.Pi, we focus on developing autonomous and intelligent systems through computational frameworks, smart embodiment design, and collective behavioral emergence. Bioinspired design concepts are central to the research conducted at ACE.Pi where we prioritize real-world, end-user-driven research with a fast route to impact as the ultimate goal.
I am recognized in the Soft Robotics community for my work on Reduced-Order Modelling (ROM) of continuum robots through shape interpolation and for implementing these models in the open-source software TMTDyn. My research, published in prestigious journals such as IJRR, SoRo, and IEEE T-RO, is the result of collaborations with an extensive network of international scientists and research labs. I have managed and played a key role in several significant grants, and received recognition for my contributions to the ART (Autonomous Robotic Thrombectomy in acute stroke) project, which has been showcased at major events. Additionally, I have fostered a dynamic community around Reduced-Order Modeling and software development for Soft Robotics Research by organizing various workshops and lecturing at various institutions.
My expertise in theoretical studies and smart embodiment design for soft robots has laid the foundation for our research on autonomous and intelligent soft robots at ACE.Pi, with applications ranging from medical intervention to industrial inspection.
Research experience and interests: Soft Robotics, Medical Robotics, Bioinspiration, Embodied Intelligence, Artificial Intelligence, Dynamics, Control, Automation, and Mechatronics.
Publications
Publications of specific relevance to the Centre for Intelligent Transport
2026
Toward AI Autonomous Navigation for Mechanical Thrombectomy Using Hierarchical Modular Multi-Agent Reinforcement Learning (HM-MARL) IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. PP (99), 1-8.
13-02-2026State of the art in soft eversion robots for colonoscopy: a review Progress in Biomedical Engineering,
Iop Publishing vol. 8 (1)
30-01-2026 2025
Phase‐Change Alloys Enable Localized Reversible Stiffening and Actuation in Steerable Eversion Tip‐Growing Robots Advanced Intelligent Systems,
Wiley 26-12-2025 Vine4Spine: A Steerable Tip-Growing Robot with Contact Force Estimation for Navigation in the Spinal Subarachnoid Space 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 17279-17286.
25-10-2025 Learning-based autonomous navigation, benchmark environments and simulation framework for endovascular interventionsKarstensen L Robertshaw H Hatzl J Jackson B Langejürgen J Breininger K Uhl C Sadati SMH et al.
Computers in Biology and Medicine,
Elsevier vol. 196 (Pt C)
15-08-2025 Reinforcement learning for safe autonomous two-device navigation of cerebral vessels in mechanical thrombectomyRobertshaw H Jackson B Wang J Sadati H Karstensen L Granados A Booth TC
International Journal of Computer Assisted Radiology and Surgery,
Springer Nature vol. 20 (6), 1077-1086.
03-04-2025 Tip-Growing Robots: Design, Theory, ApplicationAl Harthy S Sadati SMH Girerd C Kim S Mondini A Wu Z Saldarriaga B Seneci CA et al.
IEEE Transactions on Robotics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 41, 5511-5532.
01-01-2025 2024
Variable Stiffness Soft Eversion Growing Robot via Temperature Control of Low-Melting Point Alloy Pressurised Medium 2024 International Symposium on Medical Robotics (ISMR). vol. 00, 1-7.
05-06-2024 Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation 2024 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 12734-12740.
17-05-2024 Editorial: Design, modeling and control of kinematically redundant robotsLee Y Virgala I Sadati SMH Falotico E
Frontiers in Robotics and AI,
Frontiers vol. 11
08-04-2024 2023
Sliding-surface dynamic control of a continuum manipulator with large workspace Control Engineering Practice,
Elsevier vol. 141
01-12-2023 Semiautonomous Robotic Manipulator for Minimally Invasive Aortic Valve ReplacementTamadon I Sadati SMH Mamone V Ferrari V Bergeles C Menciassi A
IEEE Transactions on Robotics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 39 (6), 4500-4519.
09-10-2023 Vision-Based Autonomous Steering of a Miniature Eversion Growing RobotWu Z Sadati SMH Rhode K Bergeles C
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (11), 7841-7848.
04-10-2023 Reduced order modeling and model order reduction for continuum manipulators: an overviewSadati SMH Naghibi SE da Cruz L Bergeles C
Frontiers in Robotics and AI,
Frontiers vol. 10
15-09-2023 Sim2Real Transfer of Reinforcement Learning for Concentric Tube RobotsIyengar K Sadati SMH Bergeles C Spurgeon S Stoyanov D
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (10), 6147-6154.
09-08-2023 Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic reviewRobertshaw H Karstensen L Jackson B Sadati H Rhode K Ourselin S Granados A Booth TC
Frontiers in Human Neuroscience,
Frontiers vol. 17
04-08-2023 Koopman Operator-based Extended Kalman Filter for Cosserat Rod Wrench Estimation 2023 International Symposium on Medical Robotics (ISMR). vol. 00, 1-7.
21-04-2023 Tapered whisker reservoir computing for real-time terrain identification-based navigationYu Z Sadati SMH Perera S Hauser H Childs PRN Nanayakkara T
Scientific Reports,
Springer Nature vol. 13 (1)
30-03-2023 Continuum Robots: An OverviewRusso M Sadati SMH Dong X Mohammad A Walker ID Bergeles C Xu K Axinte DA
Advanced Intelligent Systems,
Wiley vol. 5 (5)
23-03-2023 Towards a Physics-Based Model for Steerable Eversion Growing RobotsWu Z De Iturrate Reyzabal M Sadati SMH Liu H Ourselin S Leff D Katzschmann RK Rhode K et al.
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (2), 1005-1012.
06-01-2023 Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas Lecture Notes in Computer Science. vol. 14136, 419-430.
01-01-2023 2022
Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots 2022 International Conference on Robotics and Automation (ICRA). vol. 00, 9607-9613.
27-05-2022 A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness EstimationYu Z Sadati SMH Hauser H Childs PRN Nanayakkara T
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 7 (2), 5655-5662.
16-03-2022 Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape InterpolationSadati SMH Mitros Z Henry R Zeng L da Cruz L Bergeles C
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 7 (2), 5671-5678.
14-02-2022 2021
Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics DeliveryJoymungul K Mitros Z da Cruz L Bergeles C Sadati SMH
Frontiers in Robotics and AI,
Frontiers vol. 8
19-11-2021 From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots Annual Review of Control Robotics and Autonomous Systems,
Annual Reviews vol. 5 (1), 1-25.
19-10-2021 A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 8437-8443.
01-10-2021 MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer DetectionBerthet-Rayne P Sadati SMH Petrou G Patel N Giannarou S Leff DR Bergeles C
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 6 (3), 5056-5063.
26-03-2021 Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR) 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 8801-8806.
24-01-2021 Growing Robotic Endoscope for Early Breast Cancer Detection: Robot Motion Control Lecture Notes in Computer Science. vol. 13054, 391-401.
01-01-2021 2020
Soft Robotics: The Journey Thus Far and the Challenges Ahead 01-12-2020 Optic Nerve Sheath Fenestration With a Multi-Arm Continuum RobotMitros Z Sadati S Seneci C Bloch E Leibrandt K Khadem M da Cruz L Bergeles C
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 5 (3), 4874-4881.
25-06-2020 Editorial: Current Advances in Soft Robotics: Best Papers From RoboSoft 2018Sadati SMH Maiolino P Iida F Nanayakkara T Hauser H
Frontiers in Robotics and AI,
Frontiers vol. 7
21-04-2020 Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load ReadingsSadati SMH Shiva A Herzig N Rucker CD Hauser H Walker ID Bergeles C Althoefer K et al.
IEEE Robotics and Automation Letters vol. 5 (2), 2824-2831.
10-02-2020 TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order ModelsAlthoefer K
International Journal of Robotics Research,
Sage Publications 06-01-2020 Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale JammingSadati SMH Noh Y Elnaz Naghibi S
In
Intelligent Robotics and Applications,
Springer Nature c1-c1.
01-01-2020 2019
A Stiffness Controllable Multimodal Whisker Sensor Follicle for Texture Comparison IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 20 (5), 2320-2328.
06-11-2019 Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired HoofAbad S-A Herzig N Sadati SMH Nanayakkara T
IEEE Transactions on Robotics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 35 (6), 1450-1463.
20-08-2019 Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum ManipulatorsSadati S Shiva A Elnaz Naghibi S Renson L Althoefer K Nanayakkara T Walker I
Robotics: Science and Systems XV.
22-06-2019 Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation.Shiva A Sadati SMH Noh Y Fraś J Ataka A Würdemann H Hauser H Walker ID et al.
Soft Robot vol. 6 (2), 228-249.
01-04-2019 A Matlab-Internal DSL for Modelling Hybrid Rigid-Continuum Robots with TMTDyn 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion (MODELS-C). vol. 00, 559-567.
15-01-2019 2018
Fast spectral solutions of the double gyre problem in a turbulent flow regimeNAGHIBI SE KARABASOV SA Jalali MA
Applied Mathematical Modelling,
Elsevier 29-09-2018 Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and ArrangementSadati SMH Naghibi SE Althoefer K
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 455-460.
01-04-2018 Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum ManipulatorsSadati SMH Sullivan L Walker ID
IEEE Robotics and Automation Letters vol. 3 (3), 2283-2290.
12-02-2018 Toward Computing with Spider Webs: Computational Setup Realization Lecture Notes in Computer Science. vol. 10928, 391-402.
01-01-2018 2017
Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin MethodsSadati SMH Naghibi SE Walker ID Althoefer K
IEEE Robotics and Automation Letters vol. 3 (1), 328-335.
22-08-2017 Singularity-Free Planning for a Robot Cat Free-Fall with Control Delay: Role of Limbs and Tail 2017 8th International Conference on Mechanical and Aerospace Engineering (ICMAE)., 215-221.
01-07-2017 A geometry deformation model for braided continuum manipulatorsSadati SMH Naghibi SE Shiva A Noh Y Gupta A
Frontiers Robotics AI vol. 4 (JUN)
30-06-2017 Mechanics of continuum manipulators, a comparative study of five methods with experimentsSadati SM Naghibi SE Shiva A Walker ID Althoefer K
Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) vol. 10454 LNAI, 686-702.
01-01-2017 2016
A Bio-Inspired Electro-Active Velcro Mechanism Using Shape Memory Alloy for Wearable and Stiffness Controllable Layers 2016 IEEE International Conference on Information and Automation for Sustainability (ICIAfS)., 1-6.
01-12-2016 A geometry deformation model for compound continuum manipulators with external loadingSadati SMH Shiva A Ataka A Naghibi SE Walker ID
IEEE International Conference on Robotics and Automation. vol. 2016-June, 4957-4962.
08-06-2016 2015
Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale JammingSadati SMH Noh Y Elnaz Naghibi S
Lecture Notes in Computer Science. vol. 9246, 141-151.
01-01-2015 An Automatic Algorithm to Derive Linear Vector Form of Lagrangian Equation of Motion with Collision and Constraint Procedia Computer Science. vol. 76, 217-222.
01-01-2015 2014
Passive Dynamics of High Frequency Bat Wing Flapping with an Anisotropic Membrane 7th International Conference on Information and Automation for Sustainability., 1-6.
01-12-2014 2013
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, 107-111.
13-02-2013
