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

2. Z. Kamranian, H. Sadeghian, A.R. Naghsh, M. Mehrandezh, “Fast, yet Robust End-to-End Camera Pose Estimation for Robotic Applications,” Applied Intelligence, Oct. 2020.

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

4. A. Karami, H. Sadeghian, M. Keshmiri, G. Oriolo, “Force, Orientation and Position Control in Redundant Manipulators in Prioritized Scheme with Null space Compliance,” Control Engineering Practice, 85, pp.23-33, 2019.

5. M. Malekzadeh, H. Sadeghian, “Attitude Control of Spacecraft Simulator without Angular Velocity Measurement,” Control Engineering Practice, 84, pp. 72-81, 2019.

6. Z. Kamranian, A. R. Naghsh, H. Sadeghian, F. Tombari, N. Navab, “Joint motion boundary detection and CNN-based feature visualization for video object segmentation,” Neural Computing and Applications, 1-19, 2019.

7. A. Karami, H. Sadeghian, M. Keshmiri, G. Oriolo, “Hierarchical Tracking Task Control in Redundant Manipulators with Compliance Control in the Null-Space,” Mechatronics, pp.1-14, 2018.

8. H. Sadeghian, F. Zokaei, S. 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.

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

10. F. Ruggiero, J. Cacace, H. Sadeghian, and V. 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.

11. H. Sadeghian, L. Villani, M. Keshmiri, and B. Siciliano, “Task Space Control of Robot Manipulators with Null-Space Compliance”, IEEE Transactions on Robotics, 30(2), pp. 493-506, 2014.

12. H. Sadeghian, L. Villani, M. Keshmiri, and B. Siciliano, “Dynamic Multi-Priority Control in Redundant Robotic Systems”, Robotica, 31(7), pp. 1155-1167, 2013.

13. H. Sadeghian, C. Ott, G. Garofallo, and G. 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.

14. H. Sadeghian, C. Ott, and G. 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.

15. H. Sadeghian, L. Villani, Z. Kamranian, A. Karami, “Visual Servoing with Safe Interaction Using Image Moments”, International Conference on Intelligent Robots and Systems, IROS2015, Hamburg, Germany, 2015.

16. F. Ruggiero, J. Cacace, H. Sadeghian, V. Lippiello, "Impedance Control Of VTOL UAVS with a Momentum-Based External Generalized Forces Estimator", IEEE International Conference on Robotics and Automation, ICRA2014, Hong Kong, 2014.

17. H. Sadeghian, M. Keshmiri, L. Villani, and B. Siciliano, “Null-Space Impedance Control with Disturbance Observer”, International Conference on Intelligent Robots and Systems, IROS2012, Algarve, Portugal, 2012.

18. H. Sadeghian, F. Ficuciello, and L. Villani, “Global Impedance Control of Dual-Arm Cooperative Redundant Manipulators”, 10th IFAC Symposium on Robot Control, SYROCO2012, Dubrovnik, Croatia, 2012.

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

20. H. Sadeghian, M. Keshmiri, L. Villani, and B. Siciliano, “Priority Oriented Adaptive Control of Kinematically Redundant Manipulators”, International Conference on Robotics and Automation, ICRA2012, Minnesota, USA, 2012.

21. H. Sadeghian, L. Villani, M. Keshmiri, and B. Siciliano, “Multi-Priority Control in Redundant Robotic Systems”, International Conference on Intelligent Robots and Systems, IROS2011, San Francisco, USA, 2011.

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