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Indian Institute of Technology Bhubaneswar
Indian Institute of Technology Bhubaneswar

Dr. Vimalesh Muralidharan Assistant Professor
School of Mechanical Sciences

Research Interests

Robots and Mechanisms; Serial and Parallel Manipulators; Bio-inspired Mechanical Systems; Cable Actuation; Kinematics; Dynamics; Design 

Contact Details

  • E307, SMS Extension Block, IIT Bhubaneswar
  • 0674-713-7177
  • vimalesh@iitbbs.ac.in, vimalesh.muralidharan@gmail.com

Other Profile Link(s)

Education

 Degree Discipline Year School
  Bachelor of Technology Mechanical Engineering 2016 National Institute of Technology Tiruchirappalli, India
  Master of Science Robotics 2020 Ecole Centrale de Nantes, France
  Doctorate Robotics 2023 Ecole Centrale de Nantes, France
 

Biosketch

Dr. Vimalesh Muralidharan obtained his Bachelor's degree in Mechanical Engineering from the National Institute of Technology Tiruchirappalli, India, in 2016. He worked for two years at the Robotics Laboratory, Engineering Design department, Indian Institute of Technology Madras, India, as a Project Associate. He completed his Master's and PhD degrees in robotics at Ecole Centrale de Nantes, France, in 2020 and 2023, respectively. Following this, he worked as a Postdoctoral researcher at Laval University, Quebec, Canada, for over a year. Since mid-2025, he has been a faculty member at the School of Mechanical Sciences, Indian Institute of Technology Bhubaneswar, India. 
 
His broad research interest lies in the design and analysis of bio-inspired robotic systems for human-robot interaction. 

Teaching

  • Parallel Manipulators/Design of Mechanisms and Manipulators
  • Robotics

 

Recent Publications (International Journals)

1G. Aruquipa, V. Muralidharan, P. Lambert, and C. Gosselin, “Analysis and design of a novel compact four-degree-of-freedom parallel robot with unlimited rotation,” ASME Journal of Mechanisms and Robotics, p. 061001, 2026. doi:10.1115/1.4071420.
2V. Muralidharan, P. Wenger, and C. Chevallereau, “Optimal design and comparison of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators,” Mechanism and Machine Theory, vol. 200, p. 105721, 2024. doi:10.1016/j.mechmachtheory.2024.105721.
3V. Muralidharan, C. Chevallereau, and P. Wenger, “Coactivation in symmetric four-bar mechanisms antagonistically actuated by cables,” ASME Journal of Mechanisms and Robotics, vol. 17, no. 1, p. 010902, 2025. doi:10.1115/1.4064981.
4V. Muralidharan, P. Wenger, and C. Chevallereau, “Design considerations and workspace computation of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators,” Mechanism and Machine Theory, vol. 195, p. 105610, 2024. doi:10.1016/j.mechmachtheory.2024.105610.
5V. Muralidharan, N. Testard, C. Chevallereau, A. Abourachid, and P. Wenger, “Variable stiffness and antagonist actuation for cable-driven manipulators inspired by the bird neck,” ASME Journal of Mechanisms and Robotics, vol. 15, no. 3, p. 035002, 2023. doi:10.1115/1.4062302.
6V. Muralidharan and P. Wenger, “Optimal design and comparative study of two antagonistically actuated tensegrity joints,” Mechanism and Machine Theory, vol. 159, p. 104249, 2021. doi:10.1016/j.mechmachtheory.2021.104249.
7V. Muralidharan, A. Bose, K. Chatra, and S. Bandyopadhyay, “Methods for dimensional design of parallel manipulators for optimal dynamic performance over a given safe working zone,” Mechanism and Machine Theory, vol. 147, p. 103721, 2020. doi:10.1016/j.mechmachtheory.2019.103721.
8V. Muralidharan, T.K. Mamidi, S. Guptasarma, A. Nag and S. Bandyopadhyay, “A comparative study of the configuration-space and actuator-space formulations of the Lagrangian dynamics of parallel manipulators and the effects of kinematic singularities on these,” Mechanism and Machine Theory, vol. 130, pp. 403-434, 2018. doi:10.1016/j.mechmachtheory.2018.07.009.

Conferences (International)

1V. Muralidharan and D. H. Salunkhe, “Singularities and workspace of a bio-inspired positioning arm with a rolling shoulder joint," in proceedings of European Conference on Mechanism Science 2026 (EUCOMES 2026), Wroclaw, Poland, 2026.
2V. Muralidharan and C. Gosselin, “Kinematics of a new bio-inspired positioning arm with a rolling shoulder joint," in proceedings of Advances in Robot Kinematics 2026 (ARK 2026), Barcelona, Spain, 2026.
3V. Muralidharan, D. Salunkhe, C. Chevallereau, and P. Wenger, “Kinematic and static analyses of the spherical X-joint: a new cable-driven spherical 4R linkage,” in proceedings of Computational Kinematics 2025, Chennai, India, 2025.
4V. Muralidharan, C. Chevallereau, and P. Wenger, “Kinematics and workspace of a spatial 3-DoF manipulator with anti-parallelogram joints,” in proceedings of Advances in Robot Kinematics 2024 (ARK 2024), Ljubljana, Slovenia, 2024.
5V. Muralidharan, C. Chevallereau, and P. Wenger, “Influence of geometry on the nature of stiffness modulation in antagonistically actuated 1-DoF joints,” book of Abstracts + oral presentation, MMT Symposium (60 years), Guimarães, Portugal, 2024.
6V. Muralidharan, C. Chevallereau, P. Wenger, and N. Testard, “Effect of antagonistic cable actuation on the stiffness of symmetric four-bar mechanisms,” in proceedings of Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Nantes, France, 2023.
7V. Muralidharan, P. Wenger, and C. Chevallereau, “Kinematic and static analysis of a cabledriven 2-X tensegrity manipulator for two actuation strategies,” in proceedings of Advances in Robot Kinematics 2022 (ARK 2022), Bilbao, Spain, 2022.
8V. Muralidharan, P. Wenger, and M. Furet, “Static analysis and design strategy of two antagonistically actuated joints,” in proceedings of the 8th European Conference on Mechanism Science, EuCoMeS 2020, 2020.
9V. Muralidharan and S. Bandyopadhyay, “A two-degree-of-freedom RSSR-SSR manipulator for sun-tracking,” in Proceedings of the 3rd International and 18th National Conference on Machines and Mechanisms, Mumbai, India, 2017.

Conferences (National)

1V. Muralidharan, P.Wenger, and C. Chevallereau, “Computation of stable wrench-feasible workspace of cable-driven n-X tensegrity manipulators,” in proceedings of 25 ème Congrès Français de Mécanique, Nantes, France, 2022.
2V. Muralidharan and S. Bandyopadhyay, “Dimensional design of a RSSR-SSR parallel manipulator for exact tracking of the sun,” oral presentation at National Conference on Multidisciplinary Design, Analysis and Optimization, IISc Bangalore, India, 2018.
 

Academic Honors & Awards

Record not found. Please check back later.

 

Research Scholar

  • Narupureddy Siva Satya Krishna (2026 - )
 

Professional Experience

Feb. 2024 - May 2025: Postdoctoral Fellow at Robotics Laboratory, Mechanical Department, Laval University, Quebec, Canada                   Jun. 2016 - Aug. 2018: Project Associate at Robotics Laboratory, Engineering Design Department, IIT Madras, Chennai, India      

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