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Panagiotis Vartholomeos

4 accepted papers

2025

Vine4Spine: A Steerable Tip-Growing Robot with Contact Force Estimation for Navigation in the Spinal Subarachnoid Space

Zicong Wu, S. M. Hadi Sadati, Panagiotis Vartholomeos, Mohamed E. M. K. Abdelaziz, Burak Temelkuran, George Petrou +4
IROS 2025

Therapies targeting neurodegenerative diseases via brain ventricles and spinal parenchyma face delivery challenges. Systemic administration is ineffective due to the blood-brain barrier, while direct surgical access, especially for multi-site delivery, is highly invasive. The spinal subarachnoid spa

Cited by 2Source ↗Scholar ↗
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 2Source ↗Scholar ↗
2021

Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot

Panagiotis Vartholomeos, Panos Marantos, George C. Karras, Elisabeth Menendez, Marcos Rodriguez, Santiago Martínez de la Casa Díaz +1
RA-L 2021

This letter presents the dynamic modeling, the gait sequence design, and the control architecture of the BADGER autonomous underground robot. BADGER is a modular and articulated robotic mechanism which employs inchworm biomimetic motion to drill and propel within the soil. It is used to drill and ma

Cited by 14Source ↗Scholar ↗
2019

Modeling, Simulation and Experimental Validation of a Tendon-driven Soft-arm Robot Configuration - A Continuum Mechanics Method

Nikolaos Charalampos Chairopoulos, Panagiotis Vartholomeos, Evangelos Papadopoulos
IROS 2019poster

This paper presents the mathematical derivation and experimental validation of a computational model, which accurately predicts static, large-strain deformations of tendon driven non-slender soft-arm manipulators subjected to gravity. The large strain behaviors are captured by employing the Green-La…

Cited by 8Source ↗Scholar ↗