Kartik Virmani
Research Assistant @Modular Robotics Lab Grasp Lab
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WORK HISTORY
Research Assistant @Modular Robotics Lab Grasp Lab
Engineered passively stable mobile humanoid robots by lowering the center of mass, connecting torso to base with spherical joints.• Developed ROS Gazebo simulation modeling nonlinear pendulum dynamics of torso on holonomic mobile base with spherical joint.• Implemented nonlinear control algorithms, including energy-shaping and feedback linearization, to stabilize swinging torso.• Prototyped mechanical parts, integrated IMU and encoders, programmed embedded microcontrollers for real-time control loops.• Tuned sensor fusion and control parameters in simulation and hardware-in-the-loop tests to optimize balance on uneven terrains.
EDUCATION
Summer Valley School
10th ICSE
Vellore Institute of Technology
Bachelor of Technology - BTech
Doon International School
12th CBSE
University of Pennsylvania
Master of Science - MS
ABOUT KARTIK VIRMANI
Mechanical Engineer with expertise in engineering design, automation, and system…
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