Design of a brushless micro motor driver for a locomotive endoscopic capsule. - Oscar Alonso; Lluis Freixas; Josep Samitier; Ángel Diéguez; Ekawahyu Susilo (ICECS, 2008)

A new procedure and driver to control brushless micromotors. - Oscar Alonso; Lluis Freixas; Ángel Diéguez (ICECS, 2009)

Enabling multiple robotic functions in an endoscopic capsule for the entire gastrointestinal tract exploration. - Oscar Alonso; Joan Canals; Lluis Freixas; Josep Samitier; Ángel Diéguez; Monica Vatteroni; Ekawahyu Susilo; Carmen Cavallotti; Pietro Valdastri (ESSCIRC, 2010)

Control electronics integration toward endoscopic capsule robot performing legged locomotion and illumination. - Oscar Alonso; Lluis Freixas; Joan Canals; Ekawahyu Susilo; Ángel Diéguez (IROS, 2010)