Papers
6
Total Citations
100
H-Index
5
About
Jaime Arcos-Legarda is a control systems and robotics researcher whose work centers on advanced disturbance rejection control, autonomous robotic systems, and mechatronic design. He is best known for pioneering applications of Active Disturbance Rejection Control (ADRC) across diverse robotic platforms, combining robust estimation techniques with practical engineering challenges. His most influential contribution, a 2023 study on Robust Model Predictive Control integrated with ADRC for autonomous underwater vehicles, has garnered 37 citations and demonstrates his ability to bridge theoretical control frameworks with complex real-world environments. Earlier work adapting ADRC with Generalized Proportional Integral observers to control five-degree-of-freedom bipedal robots — cited 22 times — established his reputation in dynamic locomotion control, a thread he extended through hybrid and compound control strategies for bipedal systems. Notably, Arcos-Legarda applied his disturbance rejection expertise to humanitarian challenges during the COVID-19 pandemic, contributing to the mechatronic design of a portable mechanical ventilator. His research in mobile robot trajectory planning further reflects the breadth of his interests. With a growing citation record across robotics, medical devices, and autonomous systems, he represents a versatile and socially conscious voice in modern control engineering.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3Hybrid disturbance rejection control of dynamic bipedal robots15 citations · 2019
- 4Robust compound control of dynamic bipedal robots14 citations · 2019
- 5
- 6