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  1. Queen Mary University of London
  2. Research
  3. Publications

Publications: DR Hadi Sadati

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( 2026 ) . Toward AI Autonomous Navigation for Mechanical Thrombectomy Using Hierarchical Modular Multi-Agent Reinforcement Learning (HM-MARL) . IEEE Robotics and Automation Letters vol. PP , ( 99 ) 1 - 8 .
Suulker C, Mack T, Distefano G, Chan CH, Zhang K, Sadati SMH, Mecozzi L, Sulaiman S et al. ( 2026 ) . State of the art in soft eversion robots for colonoscopy: a review . Progress in Biomedical Engineering vol. 8 , ( 1 )
( 2025 ) . Phase‐Change Alloys Enable Localized Reversible Stiffening and Actuation in Steerable Eversion Tip‐Growing Robots . Advanced Intelligent Systems
( 2025 ) . Vine4Spine: A Steerable Tip-Growing Robot with Contact Force Estimation for Navigation in the Spinal Subarachnoid Space . Conference: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 17279 - 17286 .
Al Harthy S, Sadati SMH, Girerd C, Kim S, Mondini A, Wu Z, Saldarriaga B, Seneci CA et al. ( 2025 ) . Tip-Growing Robots: Design, Theory, Application . IEEE Transactions on Robotics vol. 41 , 5511 - 5532 .
Karstensen L, Robertshaw H, Hatzl J, Jackson B, Langejürgen J, Breininger K, Uhl C, Sadati SMH et al. ( 2025 ) . Learning-based autonomous navigation, benchmark environments and simulation framework for endovascular interventions . Computers in Biology and Medicine vol. 196 , ( Pt C )
Robertshaw H, Jackson B, Wang J, Sadati H, Karstensen L, Granados A, Booth TC ( 2025 ) . Reinforcement learning for safe autonomous two-device navigation of cerebral vessels in mechanical thrombectomy . International Journal of Computer Assisted Radiology and Surgery vol. 20 , ( 6 ) 1077 - 1086 .
( 2024 ) . Variable Stiffness Soft Eversion Growing Robot via Temperature Control of Low-Melting Point Alloy Pressurised Medium . Conference: 2024 International Symposium on Medical Robotics (ISMR) vol. 00 , 1 - 7 .
( 2024 ) . Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation . Conference: 2024 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 12734 - 12740 .
Lee Y, Virgala I, Sadati SMH, Falotico E ( 2024 ) . Editorial: Design, modeling and control of kinematically redundant robots . Frontiers in Robotics and AI vol. 11 ,
( 2023 ) . Sliding-surface dynamic control of a continuum manipulator with large workspace . Control Engineering Practice vol. 141 ,
Tamadon I, Sadati SMH, Mamone V, Ferrari V, Bergeles C, Menciassi A ( 2023 ) . Semiautonomous Robotic Manipulator for Minimally Invasive Aortic Valve Replacement . IEEE Transactions on Robotics vol. 39 , ( 6 ) 4500 - 4519 .
Wu Z, Sadati SMH, Rhode K, Bergeles C ( 2023 ) . Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot . IEEE Robotics and Automation Letters vol. 8 , ( 11 ) 7841 - 7848 .
Sadati SMH, Naghibi SE, da Cruz L, Bergeles C ( 2023 ) . Reduced order modeling and model order reduction for continuum manipulators: an overview . Frontiers in Robotics and AI vol. 10 ,
( 2023 ) . Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas . Lecture Notes in Computer Science . vol. 14136 , 419 - 430 .
Iyengar K, Sadati SMH, Bergeles C, Spurgeon S, Stoyanov D ( 2023 ) . Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots . IEEE Robotics and Automation Letters vol. 8 , ( 10 ) 6147 - 6154 .
Robertshaw H, Karstensen L, Jackson B, Sadati H, Rhode K, Ourselin S, Granados A, Booth TC ( 2023 ) . Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review . Frontiers in Human Neuroscience vol. 17 ,
( 2023 ) . Koopman Operator-based Extended Kalman Filter for Cosserat Rod Wrench Estimation . Conference: 2023 International Symposium on Medical Robotics (ISMR) vol. 00 , 1 - 7 .
Yu Z, Sadati SMH, Perera S, Hauser H, Childs PRN, Nanayakkara T ( 2023 ) . Tapered whisker reservoir computing for real-time terrain identification-based navigation . Scientific Reports vol. 13 , ( 1 )
Russo M, Sadati SMH, Dong X, Mohammad A, Walker ID, Bergeles C, Xu K, Axinte DA ( 2023 ) . Continuum Robots: An Overview . Advanced Intelligent Systems vol. 5 , ( 5 )
Wu Z, De Iturrate Reyzabal M, Sadati SMH, Liu H, Ourselin S, Leff D, Katzschmann RK, Rhode K et al. ( 2023 ) . Towards a Physics-Based Model for Steerable Eversion Growing Robots . IEEE Robotics and Automation Letters vol. 8 , ( 2 ) 1005 - 1012 .
( 2022 ) . Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots . Conference: 2022 International Conference on Robotics and Automation (ICRA) vol. 00 , 9607 - 9613 .
Yu Z, Sadati SMH, Hauser H, Childs PRN, Nanayakkara T ( 2022 ) . A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation . IEEE Robotics and Automation Letters vol. 7 , ( 2 ) 5655 - 5662 .
Sadati SMH, Mitros Z, Henry R, Zeng L, da Cruz L, Bergeles C ( 2022 ) . Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape Interpolation . IEEE Robotics and Automation Letters vol. 7 , ( 2 ) 5671 - 5678 .
Joymungul K, Mitros Z, da Cruz L, Bergeles C, Sadati SMH ( 2021 ) . Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery . Frontiers in Robotics and AI vol. 8 ,
( 2021 ) . Growing Robotic Endoscope for Early Breast Cancer Detection: Robot Motion Control . Lecture Notes in Computer Science . vol. 13054 , 391 - 401 .
( 2021 ) . From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots . Annual Review of Control Robotics and Autonomous Systems vol. 5 , ( 1 ) 1 - 25 .
( 2021 ) . A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots . Conference: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 8437 - 8443 .
Berthet-Rayne P, Sadati SMH, Petrou G, Patel N, Giannarou S, Leff DR, Bergeles C ( 2021 ) . MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection . IEEE Robotics and Automation Letters vol. 6 , ( 3 ) 5056 - 5063 .
( 2021 ) . Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR) . Conference: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 8801 - 8806 .
( 2020 ) . Soft Robotics: The Journey Thus Far and the Challenges Ahead . vol. 27 , is. 4 , pp. 75 - 77 . Institute of Electrical and Electronics Engineers (IEEE)
Mitros Z, Sadati S, Seneci C, Bloch E, Leibrandt K, Khadem M, da Cruz L, Bergeles C ( 2020 ) . Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot . IEEE Robotics and Automation Letters vol. 5 , ( 3 ) 4874 - 4881 .
Sadati SMH, Maiolino P, Iida F, Nanayakkara T, Hauser H ( 2020 ) . Editorial: Current Advances in Soft Robotics: Best Papers From RoboSoft 2018 . Frontiers in Robotics and AI vol. 7 ,
Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K et al. ( 2020 ) . Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings . IEEE Robotics and Automation Letters vol. 5 , ( 2 ) 2824 - 2831 .
Sadati SMH, Naghibi SE, Shiva A, Michael B, Renson L, Howard M, Rucker CD, Althoefer K et al. ( 2020 ) . TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models . The International Journal of Robotics Research vol. 40 , ( 1 ) 296 - 347 .
Sadati SMH, Noh Y, Elnaz Naghibi S ( 2020 ) . Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming . Intelligent Robotics and Applications , vol. 9246 , Springer Nature
( 2019 ) . A Stiffness Controllable Multimodal Whisker Sensor Follicle for Texture Comparison . IEEE Sensors Journal vol. 20 , ( 5 ) 2320 - 2328 .
Abad S-A, Herzig N, Sadati SMH, Nanayakkara T ( 2019 ) . Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof . IEEE Transactions on Robotics vol. 35 , ( 6 ) 1450 - 1463 .
Sadati S, Shiva A, Elnaz Naghibi S, Renson L, Althoefer K, Nanayakkara T, Walker I . Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators . Conference: Robotics: Science and Systems XV
Shiva A, Sadati SMH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID et al. ( 2019 ) . Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation . Soft Robot vol. 6 , ( 2 ) 228 - 249 .
Naghibi SE, Karabasov SA, Jalali MA, Sadati SMH ( 2019 ) . Fast spectral solutions of the double-gyre problem in a turbulent flow regime . Applied Mathematical Modelling vol. 66 , 745 - 767 .
( 2019 ) . A Matlab-Internal DSL for Modelling Hybrid Rigid-Continuum Robots with TMTDyn . Conference: 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion (MODELS-C) vol. 00 , 559 - 567 .
( 2018 ) . Toward Computing with Spider Webs: Computational Setup Realization . Lecture Notes in Computer Science . vol. 10928 , 391 - 402 .
Sadati SMH, Naghibi SE, Althoefer K ( 2018 ) . Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement . Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)455 - 460 .
Sadati SMH, Sullivan L, Walker ID, Althoefer K, Nanayakkara T ( 2018 ) . Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators . IEEE Robotics and Automation Letters vol. 3 , ( 3 ) 2283 - 2290 .
Sadati SMH, Naghibi SE, Walker ID, Althoefer K, Nanayakkara T ( 2017 ) . Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and RitzGalerkin Methods . IEEE Robotics and Automation Letters vol. 3 , ( 1 ) 328 - 335 .
Sadati SMH, Naghibi SE, Shiva A, Walker ID, Althoefer K, Nanayakkara T ( 2017 ) . Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments . Lecture Notes in Computer Science vol. 10454 , 686 - 702 .
( 2017 ) . Singularity-Free Planning for a Robot Cat Free-Fall with Control Delay: Role of Limbs and Tail . Conference: 2017 8th International Conference on Mechanical and Aerospace Engineering (ICMAE)215 - 221 .
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K, Nanayakkara T ( 2017 ) . A Geometry Deformation Model for Braided Continuum Manipulators . Frontiers in Robotics and AI vol. 4 ,
( 2016 ) . A Bio-Inspired Electro-Active Velcro Mechanism Using Shape Memory Alloy for Wearable and Stiffness Controllable Layers . Conference: 2016 IEEE International Conference on Information and Automation for Sustainability (ICIAfS)1 - 6 .
Sadati SMH, Shiva A, Ataka A, Naghibi SE, Walker ID, Althoefer K, Nanayakkara T ( 2016 ) . A Geometry Deformation Model for Compound Continuum Manipulators with External Loading**Resrach supported by the Seventh framework Program of the European Commission in the framework of EU project STIFF-FLOP, grant agreement 287728 . Conference: 2016 IEEE International Conference on Robotics and Automation (ICRA)4957 - 4962 .
( 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 .
Sadati SMH, Noh Y, Elnaz Naghibi S ( 2015 ) . Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming . Lecture Notes in Computer Science . vol. 9246 , 141 - 151 .
( 2014 ) . Passive Dynamics of High Frequency Bat Wing Flapping with an Anisotropic Membrane . Conference: 7th International Conference on Information and Automation for Sustainability1 - 6 .
( 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 .
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