Senior Scientist

2021 Senior Scientist, Munich School of Robotics and Machine Intelligence, Technical University of Munich, Germany.
2013–2021 Assistant Professor, Faculty of Engineering, University of Isfahan, Iran.
2015–2016 Postdoctoral Fellow, Institute of Cognitive Systems (ICS), 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.

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.

1. Simon Haddadin, Dirk Wilhelm, Daniel Wahrmann, Fabio Tenebruso, Hamid Sadeghian, Abdeld-
jallil Naceri, and Sami Haddadin. Autonomous swab robot for naso-and oropharyngeal covid-19
screening. Scientific Reports, 14(1):142, 2024
2. Seongjin Bien, Jon Skerlj, Paul Thiel, Felix Eberle, Mario Tröbinger, Christian Stolle, Luis Figueredo,
Hamid Sadeghian, Abdeldjallil Naceri, and Sami Haddadin. Human-inspired audiovisual induce-
ment of whole-body responses. In 2023 IEEE-RAS 22nd International Conference on Humanoid
Robots (Humanoids), pages 1–8. IEEE, 2023
3. Andreas Frotzscher, Xiao Chen, Duy Lam Tran, Thore Goll, Hamid Sadeghian, Fan Wu, Martin
Dehmel, Tommy Wohlfahrt, Matthias Riedl, and Sami Haddadin. Self-organization and collaboration
in robotic manufacturing systems. In 2023 IEEE 19th International Conference on Automation
Science and Engineering (CASE), pages 1–6. IEEE, 2023
4. Hossein Kavianirad, Moein Forouhar, Hamid Sadeghian, Satoshi Endo, Sami Haddadin, and Sandra
Hirche. Model-based shared control of a hybrid fes-exoskeleton: an application in participant-specific
robotic rehabilitation. In 2023 International Conference on Rehabilitation Robotics, ICORR 2023,
2023
5. Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, and Sami Haddadin. Tactile exploration
using unified force-impedance control. In 22nd IFAC World Congress, 2023
6. Jon Skerlj, Daniel Pérez-Suay, Severin Knebel, Hamid Sadeghian, Abdeldjallil Naceri, and Sami
Haddadin. Virtual reality-based framework for service robotics: Data monitoring and recording
during rehabilitation scenarios. In 22nd IFAC World Congress, 2023
7. Mario Tröbinger, Abdeldjallil Naceri, Xiao Chen, Hamid Sadeghian, and Sami Haddadin. Identifi-
cation of a generalized base inertial parameter set of robotic manipulators considering mounting
configurations. In 2023 IEEE International Conference on Robotics and Automation (ICRA), pages
11502–11508. IEEE, 2023
8. Alex Toedtheide, Xiao Chen, Hamid Sadeghian, Abdeldjallil Naceri, and Sami Haddadin. A
force-sensitive exoskeleton for teleoperation: An application in elderly care robotics. In 2023 IEEE
International Conference on Robotics and Automation (ICRA). IEEE, 2023
9. Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Troebinger, Abdallah Swikir, Abdeldjallil
Naceri, and Sami Haddadin. A passivity-based approach on relocating high-frequency robot
controller to the edge cloud. In 2023 IEEE International Conference on Robotics and Automation
(ICRA). IEEE, 2023
10. Xiao Chen, Hamid Sadeghian, Yanan Li, and Sami Haddadin. Tele-rehabilitation of upper
extremity with garmi robot: Concept and preliminary results. In 22nd IFAC World Congress, 2023
11. Leilaalsadat Pezeshki, Hamid Sadeghian, Mehdi Keshmiri, Xiao Chen, and Sami Haddadin.
Cooperative assist-as-needed control for robotic rehabilitation: A two-player game approach. IEEE
Robotics and Automation Letters, 2023
12. Yuankai Wu, Rayene Messaoud, Xiao Chen, Arne-Christoph Hildebrandt, Marco Baldini, Constantin
Patsch, Hamid Sadeghian, Sami Haddadin, and Eckehard Steinbach. Vision-driven collaborative
mobile robotic human assistant system for daily living activities. In 22nd IFAC World Congress,
2023
13. Kübra Karacan, Hamid Sadeghian, Robin Kirschner, and Sami Haddadin. Passivity-based skill mo-
tion learning in stiffness-adaptive unified force-impedance control. In 2022 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), pages 9604–9611. IEEE, 2022
14. Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm
Nicklas, Fan Wu, Gerhard Fettweis, and Sami Haddadin. On the communication channel in bilateral
teleoperation: An experimental study for ethernet, wifi, lte and 5g. In 2022 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), pages 7712–7719. IEEE, 2022
15. Abdeldjallil Naceri, Jean Elsner, Mario Tröbinger, Hamid Sadeghian, Lars Johannsmeier, Florian
Voigt, Xiao Chen, Daniela Macari, Christoph Jähne, Maximilian Berlet, et al. Tactile robotic
telemedicine for safe remote diagnostics in times of corona: System design, feasibility and usability
study. IEEE Robotics and Automation Letters, 7(4):10296–10303, 2022
16. Hamid Sadeghian, Abdeldjallil Naceri, and Sami Haddadin. Human-robot interaction: networked
machines capable of learning in medicine. laryngo-rhino-otology, 101(S 01):S186–S193, 2022
17. Venus Pasandi, Hamid Sadeghian, Mehdi Keshmiri, and Daniele Pucci. An integrated pro-
grammable cpg with bounded output. IEEE Transactions on Automatic Control, 67(9):4658–4673,
2022
18. Venus Pasandi, Hamid Sadeghian, Mehdi Keshmiri, and Hossein Karimpour. A novel central
pattern generator for cyclic motions including impact. International Journal of Robotics and
Automation, 37(3), 2022
19. Mohammad Hossein Hamedani, Hamid Sadeghian, Maryam Zekri, Farid Sheikholeslam, and
Mehdi Keshmiri. Intelligent impedance control using wavelet neural network for dynamic contact
force tracking in unknown varying environments. Control Engineering Practice, 113:104840, 2021
20. Zahra Kamranian, Hamid Sadeghian, Ahmad Reza Naghsh Nilchi, and Mehran Mehrandezh.
Fast, yet robust end-to-end camera pose estimation for robotic applications. Applied Intelligence,
51:3581–3599, 2021
21. Seyed Ali Mohamad Dehghan, Hamid Reza Koofigar, Hamid Sadeghian, and Mohsen Ekramian.
Observer-based adaptive force–position control for nonlinear bilateral teleoperation with time delay.
Control Engineering Practice, 107:104679, 2021
22. Hamid Sadeghian, Maryam Barkhordari, Zahra Kamranian, and M Saleh Jafarpisheh. Robotic
needle positioning based on ct-scan images: Constrained admittance realization. Journal of Medical
Robotics Research, 5(03n04):2150001, 2020
23. Hamid Sadeghian and Maryam Barkhordari. Orbital analysis of passive dynamic bipeds; the effect
of model parameters and stabilizing arm. International Journal of Mechanical Sciences, 178:105616,
2020
24. Zahra Kamranian, Ahmad Reza Naghsh Nilchi, Hamid Sadeghian, Federico Tombari, and Nassir
Navab. Joint motion boundary detection and cnn-based feature visualization for video object
segmentation. Neural Computing and Applications, 32:4073–4091, 2020
25. Mohammad Hossein Hamedani, Mario Selvaggio, Mahtab Rahimkhani, Fanny Ficuciello, Hamid
Sadeghian, Maryam Zekri, and Farid Sheikholeslam. Robust dynamic surface control of da vinci
robot manipulator considering uncertainties: A fuzzy based approach. In 2019 7th International
Conference on Robotics and Mechatronics (ICRoM), pages 418–423. IEEE, 2019
26. Hamid Sadeghian, Fatemeh Zokaei, and Shahram Hadian Jazi. Constrained kinematic control
in minimally invasive robotic surgery subject to remote center of motion constraint. Journal of
intelligent & robotic systems, 95:901–913, 2019
27. Abbas Karami, Hamid Sadeghian, Mehid Keshmiri, and Giuseppe Oriolo. Force, orientation and
position control in redundant manipulators in prioritized scheme with null space compliance. Control
Engineering Practice, 85:23–33, 2019
28. Maryam Malekzadeh and Hamid Sadeghian. Attitude control of spacecraft simulator without
angular velocity measurement. Control Engineering Practice, 84:72–81, 2019
29. Parinaz Shokrani, Leila Ghorbani, and Hamid Sadeghian. Imitating sound ankle behavior with a
powered below-knee prosthesis and validation of its mechanical performance. Amirkabir Journal of
Mechanical Engineering, 50(5):1137–1144, 2018
30. Abbas Karami, Hamid Sadeghian, Mehid Keshmiri, and Giuseppe Oriolo. Hierarchical tracking
task control in redundant manipulators with compliance control in the null-space. Mechatronics,
55:171–179, 2018
31. Maryam Barkhordari, Hamid Sadeghian, and Mehdi Keshmiri. Robot assisted needle insertion
using ct-scan images. In 2018 6th RSI International Conference on Robotics and Mechatronics
(IcRoM), pages 566–571. IEEE, 2018
32. Abbas Karami, Hamid Sadeghian, and Mehdi Keshmiri. Novel approaches to control multiple
tasks in redundant manipulators: stability analysis and performance evaluation. Advanced Robotics,
32(10):535–546, 2018
33. Hamid Sadeghian, Christian Ott, Gianluca Garofalo, and Gordon Cheng. Passivity-based control
of underactuated biped robots within hybrid zero dynamics approach. In 2017 IEEE International
Conference on Robotics and Automation (ICRA), pages 4096–4101. IEEE, 2017
34. Hamid Sadeghian, Christian Ott, and Gordon Cheng. Exploiting ankle torque for orbital stabi-
lization in biped robots; a hybrid zero dynamics approach. In 2016 IEEE-RAS 16th International
Conference on Humanoid Robots (Humanoids), pages 870–875. IEEE, 2016
35. Hamid Sadeghian, Mehdi Keshmiri, et al. Adaptive control of a multi-task redundant manipulator.
Journal of Control, 10(2):23–34, 2016
36. Fabio Ruggiero, Jonathan Cacace, Hamid Sadeghian, and Vincenzo Lippiello. Passivity-based
control of vtol uavs with a momentum-based estimator of external wrench and unmodeled dynamics.
Robotics and Autonomous Systems, 72:139–151, 2015
37. Hamid Sadeghian, Luigi Villani, Zahra Kamranian, and Abbas Karami. Visual servoing with
safe interaction using image moments. In 2015 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), pages 5479–5485. IEEE, 2015
38. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano. Experimental study on
task space control during physical human robot interaction. In 2014 Second RSI/ISM International
Conference on Robotics and Mechatronics (ICRoM), pages 125–130. IEEE, 2014
39. Fabio Ruggiero, Jonathan Cacace, Hamid Sadeghian, and Vincenzo Lippiello. Impedance control of
vtol uavs with a momentum-based external generalized forces estimator. In 2014 IEEE international
conference on robotics and automation (ICRA), pages 2093–2099. IEEE, 2014
40. 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):493–506,
2013
41. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano. Dynamic multi-priority
control in redundant robotic systems1. Robotica, 31(7):1155–1167, 2013
42. Luigi Villani, Hamid Sadeghian, and Bruno Siciliano. Null-space impedance control for physical
human-robot interaction. In Romansy 19–Robot Design, Dynamics and Control: Proceedings of
the 19th CISM-Iftomm Symposium, pages 193–200. Springer, 2013
43. Hamid Sadeghian, Mehdi Keshmiri, Luigi Villani, and Bruno Siciliano. Null-space impedance
control with disturbance observer. In 2012 IEEE/RSJ International Conference on Intelligent
Robots and Systems, pages 2795–2800. IEEE, 2012
44. Hamid Sadeghian, Mehdi Keshmiri, Luigi Villani, and Bruno Siciliano. Priority oriented adaptive
control of kinematically redundant manipulators. In 2012 IEEE international conference on robotics
and automation, pages 293–298. IEEE, 2012
45. Hamid Sadeghian, Fanny Ficuciello, Luigi Villani, and Mehdi Keshmiri. Global impedance control
of dual-arm manipulation for safe interaction. IFAC Proceedings Volumes, 45(22):767–772, 2012
46. Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano. Multi-priority control in
redundant robotic systems. In 2011 IEEE/RSJ International Conference on Intelligent Robots and
Systems, pages 3752–3757. IEEE, 2011

• Manipulation,
• Force and Impedance Control,
• HRI, HRC,
• Medical Robotics,
• Nonlinear Modelling and Control