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 ACEi group (Artificial, Embodied, and Collective intelligence), in the Centre for Advanced Robotics at QMUL (ARQ). At ACEi, 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 ACEi 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 ACEi, 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 Advanced Robotics
2024
Editorial: Design, modeling and control of kinematically redundant robotsLee Y, Virgala I,
Sadati SMH and Falotico E
Frontiers in Robotics and AI,
Frontiers vol. 11
08-04-20242023
Semiautonomous Robotic Manipulator for Minimally Invasive Aortic Valve ReplacementTamadon I,
Sadati SMH, Mamone V, Ferrari V, Bergeles C and 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 and 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 and 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 and 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 and Booth TC
Frontiers in Human Neuroscience,
Frontiers vol. 17
04-08-2023 Tapered whisker reservoir computing for real-time terrain identification-based navigationYu Z,
Sadati SMH, Perera S, Hauser H, Childs PRN and 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 and 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 and Bergeles C
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (2), 1005-1012.
06-01-2023 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 and 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 and 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 and
Sadati SMH Frontiers in Robotics and AI,
Frontiers vol. 8
19-11-2021 MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer DetectionBerthet-Rayne P,
Sadati SMH, Petrou G, Patel N, Giannarou S, Leff DR and Bergeles C
IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 6 (3), 5056-5063.
26-03-2021 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 and 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 and 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 and Nanayakkara T
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 2019
Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired HoofAbad S-A, Herzig N,
Sadati SMH and Nanayakkara T
IEEE Transactions on Robotics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 35 (6), 1450-1463.
20-08-2019 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, Nanayakkara T and
Althoefer K Soft Robot vol. 6 (2), 228-249.
01-04-2019
