Grover Aruquipa

Grover Aruquipa

Designing parallel robots with unlimited rotation and integrated grasping

Ph.D. in Mechanical Engineering · Completing in 3 years & 3 months

Université Laval · Québec, Canada · Sep 2023 – Dec 2026

Open for Postdoc or R&I positions from December 2026

Spanish (Native) · English (Fluent) · French (Intermediate)
Download CV

Research Interests

I design advanced robotic and mechatronic systems grounded in deep mathematical analysis. My work combines screw theory, Lie group methods, and singularity analysis to create parallel robots with unprecedented capabilities. I am currently exploring Physical AI from a mechanical design perspective, and I am also interested in medical robotics, micro-manipulation, and mobile vehicles as a way to extrapolate my expertise to new domains.

Geometric Foundations

Screw theory, Lie group methods, and higher-order mobility analysis for mechanism synthesis and singularity characterization.

Advanced Parallel Robots

Kinematically redundant parallel manipulators with unlimited rotations, reconfigurable platforms, and integrated grasping capabilities.

Physical AI & New Frontiers

Exploring Physical AI from a mechanical design perspective, with interest in medical robotics and micro-manipulation applications.

Ph.D. Dissertation

Parallel Robots with Unlimited Rotations and Grasping Capabilities

Supervisors: Prof. Clément Gosselin & Prof. Patrice Lambert · Sep 2023 – Dec 2026 (3 years, 3 months)

My dissertation establishes a unified framework for designing parallel manipulators that overcome two fundamental limitations: restricted rotational workspace and the inability to grasp objects. Starting from screw-theoretic foundations, I develop novel architectures, from compact 4-DoF wrists to fully redundant (6+1) and (6+2)-DoF systems, that achieve unlimited rotation while integrating grasping directly into the mechanism structure. The work spans analytical singularity characterization, collision-free motion planning, performance index development, and experimental validation through multiple hardware prototypes.

Publications

Published

Under Review

Review Grasping

Parallel Robots for Grasping Tasks: A Review

G. Aruquipa, P. Lambert, C. Gosselin

Journal of Mechanisms and Robotics (ASME) — near acceptance

Under Review
Collision-Free Framework

An Analytical Framework for Collision-Free and Singularity-Free Unlimited Rotation in Spatial Parallel Mechanisms

G. Aruquipa, P. Lambert, C. Gosselin

Q1 Robotics Journal

Under Review
4-DoF Spherical

Design and Kinematic Analysis of a 4-DoF Spherical Parallel Robot with Unlimited Rotation

G. Aruquipa, P. Lambert, C. Gosselin

IEEE Robotics and Automation Letters

Under Review

In Preparation

(6+2)-DoF Robot

A (6+2)-DoF Kinematically Redundant Parallel Robot with Two Unlimited Rotations and Integrated Grasping

G. Aruquipa, J. Valencia, P. Lambert, C. Gosselin

Journal of Mechanisms and Robotics (ASME)

Submission Imminent
8RSS Singularity

Singularity Analysis of an 8RSS Redundant Parallel Robot with Unlimited Rotation

G. Aruquipa, R. Dahmouche

Mechanism and Machine Theory (Elsevier)

Submission Imminent
Two-Body Singularity

Singularity Analysis of Two-Body Parallel Robots with Reconfigurable Platforms

G. Aruquipa, P. Lambert, C. Gosselin, A. Müller

Mechanism and Machine Theory (Elsevier)

In Preparation
In
Progress

Graspability Performance Indices for Parallel Robots with Integrated Grasping

G. Aruquipa, A. Müller, C. Gosselin

Target: IEEE T-RO or IJRR

In Preparation
9-DoF Experimental

Experimental Validation of a 9-DoF Parallel Robot Prototype with Unlimited Rotation and Grasping

G. Aruquipa, P. Lambert, C. Gosselin

IEEE Robotics and Automation Letters

In Preparation
2nd Gen Prototype

Experimental Validation of a Second-Generation Parallel Robot Prototype

G. Aruquipa, P. Lambert, C. Gosselin

IEEE Robotics and Automation Letters

In Preparation

Earlier Work

Prototypes

6+1 DOF Parallel Manipulator
Completed

6+1 DOF Parallel Manipulator

Unlimited rotation with integrated gripper

4-DOF Spherical Wrist
Completed

4-DOF Spherical Wrist

Singularity-free orientation workspace

9-DOF Redundant System
In Progress

9-DOF Redundant System

Enhanced dexterity through redundancy

Research Journey

Canada
Sep 2023 — Dec 2026 (3 years, 3 months)

Ph.D. Mechanical Engineering

Université Laval, Québec

Parallel manipulators with unlimited rotation and grasping. Supervised by Prof. C. Gosselin & Prof. P. Lambert.

Austria
Apr — Jun 2026

Visiting Researcher

Institute of Robotics, Johannes Kepler University Linz

Singularity analysis and graspability indices with Prof. A. Müller. Funded by Mitacs Globalink Research Award.

France
2021 — 2023

M.Sc. Electrical Engineering

FEMTO-ST Institute (CNRS UMR 6174), Besançon

Smart Integrated Systems — Robotics and Micro-Robotics. Supervised by Prof. R. Dahmouche.

Switzerland
2020

Graduate Research Intern

Hitachi ABB Power Grids R&D, Zürich

Analysis of complex datasets for high-voltage circuit breakers.

Bolivia
2014 — 2019

Engineering Degree in Mechatronics

Universidad Católica Boliviana, La Paz

Comprehensive 5-year engineering program in robotics, control systems, and mechanical design. Equivalent to an integrated Bachelor + Master level.

News

May 2026

Visiting Researcher at JKU Linz (Austria) with Prof. Andreas Müller, funded by Mitacs Globalink

Apr 2026

Paper on the (6+1)-DoF parallel robot accepted in Mechanism and Machine Theory

Mar 2026

Paper published in ASME Journal of Mechanisms and Robotics on a compact 4-DOF parallel robot

Dec 2025

Awarded Mitacs Globalink Research Award for research visit to Austria

Aug 2025

Won 1st Place (Graduate Division) at the ASME Student Mechanisms & Robotics Design Competition (SMRDC), a worldwide competition at IDETC, Anaheim, CA. Received $1,500 USD travel grant and $600 USD cash prize.

Awards & Fellowships

1st Place — SMRDC (Graduate Division)

ASME IDETC, Anaheim, CA · 2025

View certificate →

Mitacs Globalink Research Award

Research stay at JKU Linz with Prof. A. Müller · 2025

Citoyens du Monde Grant

Gouvernement du Québec

Ph.D. Fellowship

Université Laval · 2023

Screw Theory Summer School Scholarship

TU Delft, Netherlands · 2023

UBFC Master's Scholarship

FEMTO-ST / UBFC, Besançon · 2021

Mentors & Collaborators

Prof. Clément Gosselin

Canada Research Chair

Université Laval

Ph.D. Supervisor

Prof. Patrice Lambert

Associate Professor

Université Laval

Ph.D. Co-supervisor

Prof. Andreas Müller

Full Professor, Institute of Robotics

Johannes Kepler University Linz

Research Collaborator

Prof. Redwan Dahmouche

Associate Professor

FEMTO-ST

M.Sc. Supervisor

Service & Community

ASME Journal of Mechanisms and Robotics Reviewer
TuBeca Bolivia Active
HOPE Worldwide

Contact

Open for Postdoc or R&I positions from December 2026

I am seeking postdoctoral or R&I positions in parallel robotics, mechanism design, and robotic manipulation.

grover.aruquipa-aruquipa.1@ulaval.ca
Google Scholar GitHub LinkedIn ResearchGate ORCID
ROS 2GazeboPyTorchSolidWorksANSYSRT-LabSimulink