publications

2026

1. ICRA 2026

   

   COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators

   Aman Singh, Deepak Kapa, Suryank Joshi, and 1 more author

   2026

   arXiv Bib

   @misc{singh2025compactcomputationaloptimizationautomated,
     title = {COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators},
     author = {Singh, Aman and Kapa, Deepak and Joshi, Suryank and Kolathaya, Shishir},
     year = {2026},
     eprint = {2510.07197},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2510.07197},
   }

2025

1. Humanoids 2025

   

   A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling

   Aman Singh, Aastha Mishra, Deepak Kapa, and 2 more authors

   In 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), 2025

   DOI Bib

   @inproceedings{humanoids2025codesignOfMonopedDetailedActuatorModelling,
     author = {Singh, Aman and Mishra, Aastha and Kapa, Deepak and Joshi, Suryank and Kolathaya, Shishir},
     booktitle = {2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)},
     title = {A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling},
     year = {2025},
     volume = {},
     number = {},
     pages = {1012-1018},
     keywords = {Fabrication;Solid modeling;Actuators;Energy consumption;Gears;Humanoid robots;Manuals;Mechanical energy;Optimization},
     doi = {10.1109/Humanoids65713.2025.11203144},
   }

2. AIR 2025

   

   A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis

   Aman Singh, Bhavya Giri Goswami, Ketan Nehete, and 1 more author

   2025

   arXiv Bib

   @misc{singh2025chaindrivensandwichleggedquadrupedrobot,
     title = {A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis},
     author = {Singh, Aman and Goswami, Bhavya Giri and Nehete, Ketan and Kolathaya, Shishir N. Y.},
     year = {2025},
     eprint = {2503.14255},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2503.14255},
   }

3. AIR 2025

   

   Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots

   Aman Singh, Deepak Kapa, Prasham Chedda, and 1 more author

   2025

   arXiv Bib

   @misc{singh2025comparisonexternalinternalsingle,
     title = {Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots},
     author = {Singh, Aman and Kapa, Deepak and Chedda, Prasham and Kolathaya, Shishir N. Y.},
     year = {2025},
     eprint = {2506.16356},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2506.16356},
   }

2023

1. ICRA 2023

   

   Force control for Robust Quadruped Locomotion: A Linear Policy Approach

   Aditya Shirwatkar, Vamshi Kumar Kurva, Devaraju Vinoda, and 7 more authors

   In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

   DOI Bib

   @inproceedings{force_control_linear_policy,
     author = {Shirwatkar, Aditya and Kurva, Vamshi Kumar and Vinoda, Devaraju and Singh, Aman and Sagi, Aditya and Lodha, Himanshu and Goswami, Bhavya Giri and Sood, Shivam and Nehete, Ketan and Kolathaya, Shishir},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Force control for Robust Quadruped Locomotion: A Linear Policy Approach},
     year = {2023},
     volume = {},
     number = {},
     pages = {5113-5119},
     keywords = {Legged locomotion;Training;Force;Hardware;Trajectory;Quadrupedal robots;Force control;Quadruped Robots;Reinforcement Learning;Model Predictive Control (MPC);Linear policy},
     doi = {10.1109/ICRA48891.2023.10161080},
   }

2022

1. ICRA 2022

   

   Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning

   Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, and 6 more authors

   In 2022 International Conference on Robotics and Automation (ICRA), 2022

   DOI Bib

   @inproceedings{9812089,
     author = {Mishra, Utkarsh A. and Samineni, Soumya R. and Goel, Prakhar and Kunjeti, Chandravaran and Lodha, Himanshu and Singh, Aman and Sagi, Aditya and Bhatnagar, Shalabh and Kolathaya, Shishir},
     booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
     title = {Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning},
     year = {2022},
     volume = {},
     number = {},
     pages = {1631-1637},
     keywords = {Training;Legged locomotion;Heuristic algorithms;Predictive models;Prediction algorithms;Hardware;Quadrupedal robots},
     doi = {10.1109/ICRA46639.2022.9812089},
   }