Aman Singh

I am a PhD researcher in Robotics at the IISc, Bengaluru, working in the Stochastic Robotics Lab under the Centre for Cyber-Physical Systems (CPS), advised by Dr. Shishir N Y Kolathaya.

I completed my B.Tech in Mechanical Engineering from IIT Roorkee, where I developed a strong interest in mechanical design, dynamics, and robotics, which led me toward research-driven hardware development.

My research focuses on robotic actuator design, planetary gearbox optimization, and hardware-centric co-design for legged robots. I work on building practical, reproducible systems, combining computational optimization, automated CAD, and experimental validation.

Find my CV here.

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news

Jan 31, 2026	🎉 We are excited to announce that our paper COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators got accepted at IEEE ICRA 2026
Jul 21, 2025	Our Paper A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling got accepted at IEEE International Conference on Humanoid Robots (HUMANOIDS) 2025
Apr 12, 2025	Our Paper Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots got accepted at International Conference on Advances in Robotics (AIR) 2025
Feb 09, 2025	Our Paper A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis got accepted at International Conference on Advances in Robotics (AIR) 2025
Aug 21, 2024	Our Patent Low-cost sandwiched robotic leg design for legged locomotion got accepted by Indian Patent Office (IPO) Patent-Certificate

selected publications

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},
}

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},
}

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},
}