Apparatus, methods, and computer-readable medium are disclosed for controlling positioning of a desk. An exemplary apparatus includes a tabletop, expandable legs, motors, position sensors, a processor, and a memory configured to store instructions. The motors alter a length of one of the expandable legs. The position sensors identify current position of each of the plurality of expandable legs. The instructions cause the processor to receive a sensor signal, a communication signal, or a command signal, receive the identified current position of one or more of the expandable legs, determine a projected length value for the one or more expandable legs responsive to the received sensor signal, the communication signal, or the command signal, and command one or more of the plurality of motors based on the projected length value for the one or more expandable legs and the identified current position of the one or more expandable legs.