Portrait image of Vaibhav Gupta

Vaibhav Gupta

Interested in development and application of optimal control theory and learning systems with guarantees on safety and performance.

Education

Master of Science (Robotics)

École polytechnique fédérale de Lausanne, Switzerland
Sept 2019 - Sept 2021

  • GPA of 5.512/6
  • Area of Interest: Application of optimal control theory and learning systems
  • Thesis: Vibration Control in an Adaptive Optic System
    Proposed a new loosely coupled robust vibration controller schema and provided a MATLAB toolbox for the controller design.

Bachelor of Technology (Mechanical Engineering)

Indian Institute of Technology Delhi, India
July 2013 - May 2017

  • GPA of 9.231/10 with minor in Interdisciplinary Specialization in Robotics
  • Area of Interest: Mechanical Design and Control Theory for mechatronic applications
  • Thesis: Force Feedback in Laparoscopy
    Analysed, simulated, and fabricated a compliant mechanism using flexure components to sense and map the contact forces on laparoscopic instrument for haptic control

Experience

Research Assistant

LASA, EPFL, Lausanne, Switzerland
March 2020 - Feb 2021

  • Developed a PyBullet framework for collision simulation between a human and a mobile robot
  • Formulated a passive dynamical system-based controller for post-collision compliance and implemented the controller on QOLO, a standing mobility vehicle for lower-body paralyzed people
  • Exploring ways to combine information from visual and haptic feedback for grasping tasks

Engineer

CBS Techno, Nagoya, Japan
Sept 2017 - July 2019

  • Worked on the logic for control of semi-active suspension system using only the standard in-car sensors at the client company (SHOWA Ltd.)
  • Formulated an observer for the ground load and vehicle state estimation

Intern

Robotics and Automation, TAL Manufacturing Solutions Ltd., Pune, India
May 2016 - July 2016

  • Characterized and improved the positional accuracy and precision of a 5-axis industrial arm
  • Developed a front-end application for vision-based palletizing operation

Publications

Conferences

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Robotics Science and Systems (RSS-2021) - Workshop on Social Robot Navigation
July 12-16, 2021 | Virtual Conference

A perturbed cognate mechanism as a force sensor

euspen’s 18th International Conference & Exhibition
June 2018 | Venice, Italy

Three-stage computed-torque controller for trajectory tracking in non-holonomic wheeled mobile robot

15th International Workshop on Advanced Motion Control (AMC)
March 2018 | Tokyo, Japan
DOI: 10.1109/AMC.2019.8371077

RoboAnalyzer: Robot Visualization Software for Robot Technicians

Advances in Robotics 2017
June 2017 | New Delhi, India
DOI: 10.1145/3132446.3134890

Designing compact remote centre of compliance devices for assembly robots

2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM 2015)
Dec 2015 | Kanpur, India

Patents

状態量算出装置、制御装置および車両 (The state quantity calculating device, control device, and vehicle)

特許第6810779号(P6810779) in Japan issued 6 Jan 2021
- グプタ ワイバワ (Gupta Vaibhav), 株式会社ショーワ (Showa Corporation)
- 水口 祐一郎 (Minakuchi Yuichiro), 株式会社ショーワ (Showa Corporation)

接地荷重推定装置、制御装置および接地荷重推定方法 (To provide a ground load estimation device, a control device and a load estimation method)

特許第6695481号(P6695481) in Japan issued 2 Sept 2020
- 水口 祐一郎 (Minakuchi Yuichiro), 株式会社ショーワ (Showa Corporation)
- グプタ ワイバワ (Gupta Vaibhav), 株式会社ショーワ (Showa Corporation)

接地荷重推定装置、制御装置および接地荷重推定方法 (To provide a ground load estimation device, a control device and a load estimation method)

特許第6748765号(P6748765) in Japan issued 20 May 2020
- 水口 祐一郎 (Minakuchi Yuichiro), 株式会社ショーワ (Showa Corporation)
- グプタ ワイバワ (Gupta Vaibhav), 株式会社ショーワ (Showa Corporation)

Other Academic Experience

Teaching Assistant

Conducted tutorial session for the course ‘Engineering Visualization and Communications MEP100’

Robotics workshop for school children

Organized and conducted basic robotics workshop for school students in Don Bosco School, Liluah, Kolkata, India

Achievements

IITD Semester Merit Award

Received the award for being in top 7% of the class

Twelfth Board Topper

Overall board topper in class 12th in AMU board

Languages

Hindi
CEFR C2
Native proficiency
English
CEFR C2
Bilingual proficiency
Japanese
CEFR B2
Professional working proficiency
French
CEFR A1-A2
Elementary proficiency