Dr. Hamid

Sadeghian Faculty of Engineering, University of Isfahan


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Professional Experiences

2013–NOW Assistant Professor, Faculty of Engineering, University of Isfahan, Iran. 2016–2021 Executive Director, ARMLab, Isfahan University of Technology, Iran.

2015–2016 Postdoctoral Fellow, Institute of Cognitive Systems, TUM, Institute of Robotics and Mechatronics, DLR , Germany.


2010–2013 Visiting Scholar, PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples, Italy.


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Educations

2008–2013 PhD, Robotics and Control, Isfahan University of Technology, Isfahan, Iran. 2005–2007 MSc, Mechanical Engineering, Sharif University of Technology, Tehran, Iran. 2000–2004 BSc, Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran.

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Teaching Experiences

Graduate Advanced Robotics, Medical Robotics, Advanced Engineering Mathematics, Applied Nonlinear Control, Control of Robotic Systems

Undergraduate Linear Control, Robotics, Mechatronics, Dynamics, Vibration, Engineering Mathematics, Mechanical Design

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Research Interests

Robot Manipulation, Force and Impedance Control, HRI, HRC, Medical Robotics, Nonlinear Modeling and Control

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Technical Skills

Computer programming and design; MATLAB, C++, Java, ROS, Autodesk Inventor Robot programming; KUKA FRI, Sunrise


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Journal Publications

  1. M. Hossein Hamedani, Hamid Sadeghian, Maryam Zekri, Farid Sheikholeslam, Mehdi Keshmiri, "Intelligent Impedance Control using Wavelet Neural Network for dynamic contact force tracking in

    unknown varying environments," Control Engineering Practice, 113, 104840, 2021.

  2. SAM Dehghan, Hamid R. Koofigar, Hamid Sadeghian, Mohsen Ekramian, "Observer-based adap- tive force–position control for nonlinear bilateral teleoperation with time delay," Control Engineering Practice, 107, 104679, 2021.

  3. Hamid Sadeghian, Maryam Barkhordari, Zahra Kamranian, M. Saleh Jafarpisheh, “Robotic Needle Guidance based on CT-scan Images: Constrained Admittance Realization,” Journal of Medical Robotics Research,05(04), 2150001, 2020.

  4. Zahra Kamranian, Hamid Sadeghian, A. Reza Naghsh, Mehran Mehrandezh, “Fast, yet Robust End-to-End Camera Pose Estimation for Robotic Applications,” Applied Intelligence, Oct. 2020.

  5. Hamid Sadeghian, Maryam Barkhordari, “Orbital Analysis of Passive Dynamic Bipeds; the Effect of Model Parameters and Stabilizing Arm,” International Journal of Mechanical Science, 178, pp.105616, 2020.

  6. Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, Giuseppe Oriolo, “Force, Orientation and Position Control in Redundant Manipulators in Prioritized Scheme with Null space Compliance,” Control Engineering Practice, 85, pp.23-33, 2019.

  7. Maryam Malekzadeh, Hamid Sadeghian, “Attitude Control of Spacecraft Simulator without Angular Velocity Measurement,” Control Engineering Practice, 84, pp. 72-81, 2019.

  8. Zahra Kamranian, A. Reza N. Nilchi, Hamid Sadeghian, Federico Tombari, Nassir Navab, “Joint motion boundary detection and CNN-based feature visualization for video object segmentation,” Neural Computing and Applications, 1-19, 2019.

  9. Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, Giuseppe Oriolo, “Hierarchical Tracking Task Control in Redundant Manipulators with Compliance Control in the Null-Space ,” Mechatronics, pp. 1-14, 2018.

  10. Hamid Sadeghian, Fateme Zokaei, Shahram Hadian, “Constrained Kinematic Control in Minimally Invasive Robotic Surgery Subject to Remote Center of Motion Constraint, ” Journal of Intelligent and Robotic systems, pp. 1-8, 2018.

  11. Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, “Novel approaches to control multiple tasks in redundant manipulators: stability analysis and performance evaluation,” Advanced Robotics, 32(10), pp. 535-546, 2018.

  12. Fateme Zokaei, Hamid Sadeghian, Shahram Hadian, “Task Control of Minimally Invasive Surgery with Remote Center of Motion Constraint,“ Journal of Mechanical engineering, Tarbiat Modarres, 17(8), pp. 259-266, 2017. (in Persian)

  13. Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, “Hierarchical Position, Orientation and Impedance Control in redundant robots,” Journal of Mechanical engineering, Tarbiat Modarres, 17(8), pp. 117-125, 2017. (in Persian)

  14. Parinaz Shokrani, Leila Ghorbani, Hamid Sadeghian,“Imitating Sound Ankle Behavior with a Powered Below-Knee Prosthesis and Validation of its Mechanical Performance,” Journal of Mechanical Engineering, Amir Kabir University, 2016.

  15. Hossein Karimpour, Shahram Hadian Jazi, Hamid Sadeghian, and Mostafa Ghobadi, “Simulation and Implementation of Swinging-Up and Sliding Positioning Control of an Inverted Pendulum System,” Journal of Mechanical Engineering, Tabriz University, Iran, 2016. (in Persian)

  16. Hamid Sadeghian, Shahram Hadian Jazi, and Mehdi Keshmiri, “Adaptive Control of a Multi-Task Redundant Manipulator,” Journal of Control, KNTU Universty (in Persian), 10(2), 2016. (in Persian)

  17. Fabio Ruggiero, Janathan Cacace, Hamid Sadeghian, and Vincenzo Lippiello, “Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics,” Journal of Robotics and Autonomous Systems, 72, pp.139-151, 2015.

  18. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano, “Task Space Control of Robot Manipulators with Null-Space Compliance”, IEEE Transactions on Robotics, 30(2), pp. 493-506, 2014.

  19. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano, “Dynamic Multi-Priority Control in Redundant Robotic Systems”, Robotica, 31(7), pp. 1155-1167, 2013.


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    Conference Publications

  20. M. H. Hamedani, M. Selvaggio, M. Rahimkhani, F. Ficuciello, Hamid Sadeghian, M. Zekri, F. Sheikholeslam,”Robust Dynamic Surface Control of da Vinci Robot Manipulator Considering Uncer- tainties: A Fuzzy Based Approach,“ RSI/ISM International Conference on Robotics and Mechatronics, Tehran, 2019.

  21. Maryam Barkhordari, Hamid Sadeghian, and Mehdi Keshmiri, “Robot Assisted Needle Insertion Using Medical Images in Minimally Invasive Surgeries,” RSI/ISM International Conference on Robotics and Mechatronics, Tehran, 2018.

  22. Maryam Malekzadeh and Hamid Sadeghian,”Attitude Control of Spacecraft Simulator with Reac- tion Wheels Regulation,” RSI/ISM International Conference on Robotics and Mechatronics, Tehran, 2017.

  23. Hamid Sadeghian, Christian Ott, Gianluca Garofallo, and Gordon Cheng, “Lyapunov-based Stability Analysis of Underactuated Biped Robots within Hybrid Zero Dynamics Approach”, 2017 IEEE/RSJ International Conference on Robotics and Automation, Singapore, 2017.

  24. Hamid Sadeghian, Christian Ott, and Gordon Cheng, “Exploiting Ankle Torque for Orbital Stabilization in Biped Robots; A Hybrid Zero Dynamics Approach”, 2016 IEEE-RAS International Conference on Humanoid Robots, Mexico, 2016.

  25. Leila Ghorbani, Parinaz Shokrani, and Hamid Sadeghian, “Biomechanical Design And Simulation Of An Active Ankle-Foot Prosthesis Based On The Human Ankle Behavior”, 24th Annual International

    Conference on Mechanical Engineering-ISME2016, Yazd University, Yazd, Iran, 2016.

  26. Hamid Sadeghian, and Luigi Villani, “Visual Servoing with Safe Interaction”, 8th International Workshop on Human-Friendly Robotics (HFR 2015), Munich, Germany, 2015.

  27. Hamid Sadeghian, Luigi Villani, Zahra Kamranian, Abbas Karami, “Visual Servoing with Safe Interaction Using Image Moments”, International Conference on Intelligent Robots and Systems, IROS2015, Hamburg, Germany, 2015.

  28. Abbas Karami. Hamid Sadeghian, Mehdi Keshmiri, “Multi-Task Control of Multi-Contact Ma- nipulators during Accidental Interactions With Robot Body”, RSI/ISM International Conference on Robotics and Mechatronics, Tehran, 2015.

  29. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, Bruno Siciliano, “Experimental Study on Task Space Control during Physical Human Robot Interaction”, RSI/ISM International Conference on Robotics and Mechatronics, Tehran, 2014.

  30. Fabio Ruggiero, Janathan Cacace, Hamid Sadeghian, Vincenzo Lippiello, "Impedance Control Of VTOL UAVS with a Momentum-Based External Generalized Forces Estimator", IEEE International Conference on Robotics and Automation, Hong Kong, 2014.

  31. Hamid Sadeghian, Mehdi Keshmiri, Luigi Villani, and Bruno Siciliano, “Null-Space Impedance Control with Disturbance Observer”, International Conference on Intelligent Robots and Systems, IROS2012, Algarve, Portugal.

  32. Hamid Sadeghian, Fanny Ficuciello, and Luigi Villani, “Global Impedance Control of Dual-Arm Cooperative Redundant Manipulators”, 10th IFAC Symposium on Robot Control, SYROCO2012, Dubrovnik, Croatia.

  33. Luigi Villani, Hamid Sadeghian, and Bruno Siciliano, “Null-Space Impedance Control for Physical Human Robot Interaction”, 19th CISM-IFtomm Symposium of Robot design, dynamics and control, ROMANSY19, 2012, Paris.

  34. Hamid Sadeghian, Mehdi Keshmiri, Luigi Villani, and Bruno Siciliano, “Priority Oriented Adap- tive Control of Kinematically Redundant Manipulators”, International Conference on Robotics and Automation, ICRA2012, Minnesota, USA.

  35. Hamid Sadeghian and Mehdi Keshmiri, “Multi-Priority Impedance Control with Force Estimation”, 20th Annual International Iranian Mechanical Engineering Conference, ISME2012, Shiraz, Iran.

  36. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano, “Multi-Priority Control in Redundant Robotic Systems”, International Conference on Intelligent Robots and Systems, IROS2011, San Francisco, USA.

  37. Hamid Sadeghian and Mostafa Pirmoradian, “Adaptive Sliding Control of 3dof Parallel Manip- ulator”, 2nd National Conference of Mechanical Engineering, NCME2009, Azad University, Isfahan, Iran.

  38. S. Ahmad Tajalli, Mohammad T. Ahmadian, and Hamid Sadeghian, “Effect of Squeeze-Film

    Damping on The Dynamic Behavior of Circular and Rectangular Micro Plates”, International Semicon- ductor Device Research Symposium, ISDRS2007, College Park, Maryland, USA.

  39. Hamid Sadeghian, Javad Akbari, and Amir G. Chegini, “Application of Ultrasonic in Injection Mold- ing”, 7th International Conference on Application and Design in Mechanical Engineering, CADME2007, Kangar, Malaysia.

  40. Amir G. Chegini, Javad Akbari, Hamid Sadeghian, Bahman Azarhoushang, "Effect of Ultrasonic Vibration on Surface Roughness of Ni-Ti Based Shape Memory Alloy", International Congress on Manufacturing Engineering, TICME2007, Tehran, Iran.

  41. Mostafa Pirmoradian, Hamid Sadeghian, Yaser amooshahi, “Adaptive Sliding Control of new 4DOF Flight Simulator”, 1st National Conference on Flight Simulations 2009, Tehran, Iran (with honor).