Dr S.M.Hadi Sadati
PhD
All Publications
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.
13-02-2026 - State 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 - Learning-based autonomous navigation, benchmark environments and simulation framework for endovascular interventions
Karstensen 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 thrombectomy
Robertshaw 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, Application
Al 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
- Editorial: Design, modeling and control of kinematically redundant robots
Lee 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 Replacement
Tamadon 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 Robot
Wu 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 overview
Sadati 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 Robots
Iyengar 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 review
Robertshaw 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 - Tapered whisker reservoir computing for real-time terrain identification-based navigation
Yu Z, Sadati SMH, Perera S, Hauser H, Childs PRN, Nanayakkara T
Scientific Reports, Springer Nature vol. 13 (1)
30-03-2023 - Continuum Robots: An Overview
Russo 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 Robots
Wu 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
2022
- A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation
Yu 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 Interpolation
Sadati 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 Delivery
Joymungul 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 - MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection
Berthet-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
2020
- Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot
Mitros 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 2018
Sadati 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 Readings
Sadati 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 Models
Althoefer K
International Journal of Robotics Research, Sage Publications
06-01-2020
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 Hoof
Abad 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 - 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
2018
- Fast spectral solutions of the double gyre problem in a turbulent flow regime
NAGHIBI SE, KARABASOV SA, Jalali MA
Applied Mathematical Modelling, Elsevier
29-09-2018 - Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators
Sadati SMH, Sullivan L, Walker ID
IEEE Robotics and Automation Letters vol. 3 (3), 2283-2290.
12-02-2018
2017
- Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods
Sadati SMH, Naghibi SE, Walker ID, Althoefer K
IEEE Robotics and Automation Letters vol. 3 (1), 328-335.
22-08-2017 - A geometry deformation model for braided continuum manipulators
Sadati 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 experiments
Sadati 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 Bioinformat vol. 10454 LNAI, 686-702.
01-01-2017