@article{domínguez_miranda-colorado_aguilar_mercado-ravell_2024, title={A methodology for setting-up a low-cost quadrotor experimental platform}, url={https://doi.org/10.1016/j.conengprac.2023.105803}, DOI={10.1016/j.conengprac.2023.105803}, abstractNote={Quadrotor vehicles are captivating devices that serve as valuable platforms for testing and developing nonlinear control algorithms due to the pronounced nonlinearities in their dynamics models. Additionally, these platforms are employed for a range of functions, spanning from entertainment to industrial applications. In engineering practice, it is imperative to develop a controller for a quadrotor to fulfill a desired task. Nevertheless, we must perform real-time experiments to assess the controller’s performance effectively. Regardless, this task is challenging due to hardware and software limitations hindering the setup of the experimental platform and deployment of the controller. Therefore, it is essential to have a functional experimental platform for validating the performance of different control methodologies. With this objective in mind, this manuscript develops a step-by-step procedure for setting up a low-cost quadrotor testbed. To better understand the process, tutorial videos were generated to walk the reader through the steps required to implement a given controller successfully. Furthermore, an academic example employing a new Observer-based Proportional Integral Derivative controller is applied to demonstrate the effectiveness of the proposed methodology. The experimental results verify the novel method’s efficiency despite the inherent hardware and software limitations or the influence effect of the inevitable endogenous and exogenous perturbations.}, journal={Control Engineering Practice}, author={Domínguez, Israel and Miranda-Colorado, Roger and Aguilar, Luis T. and Mercado-Ravell, Diego A.}, year={2024}, month={Feb} }
 @article{zhu_jiao_dominguez_yu_su_2022, title={Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance for Agile Activities}, volume={6}, ISSN={["1941-014X"]}, url={http://dx.doi.org/10.1109/tmech.2022.3176255}, DOI={10.1109/TMECH.2022.3176255}, abstractNote={High-performance prostheses are crucial to enable versatile activities like walking, squatting, and running for lower extremity amputees. State-of-the-art prostheses are either not powerful enough to support demanding activities or have low compliance (low backdrivability) due to the use of high speed ratio transmission. Besides speed ratio, gearbox design is also crucial to the compliance of wearable robots, but its role is typically ignored in the design process. This article proposed an analytical backdrive torque model that accurately estimates the backdrive torque from both motor and transmission to inform the robot design. Following this model, this article also proposed methods for gear transmission design to improve compliance by reducing inertia of the knee prosthesis. We developed a knee prosthesis using a high torque actuator (built-in 9:1 planetary gear) with a customized 4:1 low-inertia planetary gearbox. Benchtop experiments show the backdrive torque model is accurate and proposed prosthesis can produce 200 Nm high peak torque (shield temperature <60 °C), high compliance (2.6 Nm backdrive torque), and high control accuracy (2.7/8.1/1.7 Nm RMS tracking errors for 1.25 m/s walking, 2 m/s running, and 0.25 Hz squatting, that are 5.4%/4.1%/1.4% of desired peak torques). Three able-bodied subject experiments showed our prosthesis could support agile and high-demanding activities.}, journal={IEEE-ASME TRANSACTIONS ON MECHATRONICS}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Zhu, Junxi and Jiao, Chunhai and Dominguez, Israel and Yu, Shuangyue and Su, Hao}, year={2022}, month={Jun} }
 @inproceedings{dominguez-silva_2022, title={Design and Experimental Validation of a High Power Actuator for Knee Prosthesis with Low Gear Ratio Transmission}, booktitle={IEEE/ASME Transactions on Mechatronics with The 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022}, author={Dominguez-Silva, I.}, year={2022} }
 @article{miranda-colorado_dominguez-silva_aguilar_2022, title={Variable-Gain Sliding Mode Control for Quadrotor Vehicles: Lyapunov-based Analysis and Finite-Time Stability}, journal={IEEE Transactions on Control Systems Technology}, author={Miranda-Colorado, R. and Dominguez-Silva, I. and Aguilar, L.T.}, year={2022} }