S.M. Hadi Sadati — accepted AI-conference papers

2024

Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation

Panagiotis Vartholomeos, Zicong Wu, S.M. Hadi Sadati, Christos Bergeles

ICRA 2024poster

This paper presents a lumped-parameter dynamic model of a pressure driven eversion robot carrying a catheter through its hollow core. A simulation framework based on the model is developed in MATLAB and is used for understanding the underlying physics, for identifying the regions of operation, and f…

Cited by 2 Source ↗Scholar ↗

2021

A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots

Zhenhua Yu, S.M. Hadi Sadati, Hasitha Wegiriya, Peter Childs, Thrishantha Nanayakkara

IROS 2021poster

This paper shows analytical and experimental evidence of using the vibration dynamics of a compliant whisker for accurate terrain classification during steady state motion of a mobile robot. A Hall effect sensor was used to measure whisker vibrations due to perturbations from the ground. Analytical…

Cited by 13 Source ↗Scholar ↗