Puneet Singla

2 accepted papers

2026

Optimal Dexterity Path Planning for Robotic Manipulators Using Rapid Workspace Density Approximation

Nathaniel Osikowicz, John Cooper, Puneet Singla

ICRA 2026poster

This paper introduces a path planning algorithm for executing robotic manipulation tasks with maximum dexterity in the workspace. This is achieved by using the workspace density of the end-effector as the objective function in a sampling-based planner. In doing so, the path planning algorithm priori…

Cited by 0 Scholar ↗

2017

Visual feedback control of tensegrity robotic systems

Haresh Karnan, Raman Goyal, Manoranjan Majji, Robert E. Skelton, Puneet Singla

IROS 2017poster

Feedback control problems pertaining to the control of tensegrity robotic systems are detailed in this paper. The unique problems that arise due to the positivity of the string tensions required to maintain the static stability and desirable stiffness of the structural system are shown to bring abou…

Cited by 19 Source ↗Scholar ↗