A Santa Rosa man wanted on a felony warrant was arrested Friday night after police say he ran from officers along the Prince Memorial Greenway and was later found carrying a loaded handgun.

Santa Rosa police officers on foot patrol encountered Robert Penister Jr., 52, at about 8:10 p.m. near a homeless encampment along the greenway, according to a Saturday news release.

Penister was wanted on a felony no-bail warrant related to a violation of Post Release Community Supervision (PRCS), and when spotted, officers recognized him from previous arrest attempts.

In a phone call on Saturday, Santa Rosa police said that Penister initially received his PRCS in 2021 when he was convicted of a felony for vehicle evasion.

Police said Penister tried to escape when officers attempted to arrest him Friday, prompting a short foot pursuit.

Officers caught him nearby, and Penister continued to resist during the arrest, police said. A taser was used to take him into custody.

Investigators said Penister was carrying a loaded .22-caliber Ruger Mark II handgun. As a convicted felon, he is legally barred from possessing firearms or ammunition, police said.

The gun had not been reported stolen, and investigators are working to determine how Penister obtained it.

Penister was taken to a hospital for evaluation before being booked into the Sonoma County jail, police said.

He was booked on suspicion of being a felon in possession of a firearm and ammunition, possessing a loaded firearm without being the registered owner, resisting arrest by force and the outstanding supervision warrant, authorities said.

A Sonoma County Superior Court judge later raised Penister’s bail to $750,000, citing the seriousness of the alleged crimes and his actions during the arrest, police said.

According to jail records, Penister remained in custody as of Saturday morning and is scheduled for a court appearance on Dec. 30.

According to a Sonoma County Sheriff’s Office news release, Penister was previously arrested on Jan. 20 on suspicion of firearm and ammunition possession and of possession of a controlled substance while armed, having two prior drug convictions and on a PRCS warrant.