# 腿式机器人的磁感知控制

> 原文链接：https://robotics.hellobike.com/papers/2026-10-06-2610-08653
> 频道：papers | 更新日期：2026-10-06 | 标签：arxiv, cs.RO
> 核心摘要：提出磁感知MPC/WBC框架，建模估计并补偿腿式机器人磁扰动，在仿真和硬件实验验证鲁棒性提升。

# 腿式机器人的磁感知控制

::: v-pre
> 原文链接：[Magnet-Aware Control of Legged Robots](https://arxiv.org/abs/2610.08653)（arXiv 2610.08653 · 发布日期：2026-10-06）

**Magnet-Aware Control of Legged Robots**

提出磁感知MPC/WBC框架，建模估计并补偿腿式机器人磁扰动，在仿真和硬件实验验证鲁棒性提升。

## 核心要点

- 强磁场会破坏传感器并产生姿态相关机械力矩，使传统反应式控制器失稳。
- 方法结合MuJoCo磁力物理插件、逆向磁场估计，以及磁感知MPC与WBC控制。
- 仿真与硬件实验显示，可拒磁场力扰动提升2.5倍，力矩提升1.6-2倍。
- 在所提磁场内，可运行区域增加29,34%，其中10,84%原会导致立即倒塌。

**验证范围与局限**：验证范围包括仿真和物理硬件实验，面向磁场中的腿式机器人运动。

## 英文摘要 (Abstract)

Autonomous robots can increase uptime and reduce human exposure in Big Science facilities, but strong magnetic fields needed for their operation corrupt sensors and induce pose-dependent mechanical wrenches that destabilize robots and challenge conventional reactive controllers. This paper presents a control framework for modeling, estimating, and dynamically compensating for spatially varying magnetic wrenches acting on legged robots to improve robustness in these fields. We introduce a custom physics plugin for the MuJoCo simulator to model magnetic forces on rigid-body elements, alongside an inverse field-estimation framework to infer the latent magnetic field directly from quadruped dynamic responses and any number of sensor readings. Furthermore, we develop a Magnet-Aware Model Predictive Control (MPC) and Whole-Body Control (WBC) architecture that predicts and counteracts magnetic perturbations during locomotion to increase the range of magnetic fields in which the robot can operate. The effectiveness of the framework is validated through both simulation and physical hardware experiments. We show our method increases the the maximum rejectable disturbances from magnetic field in the force space by a factor of 2.5 and and between 1.6-2 times in torque space compared to a non-compensated system. Within the proposed magnetic field, this constitutes an increase in the area in which the robot can operate by 29,34% of which 10,84% would have previously caused an immediate collapse to non-compensated controllers.

作者：J. Playan Garai, S. B. Djuve, C. McGreavy, M. Khadiv
:::

## 原始参考来源 (Sources)

- [arXiv 2610.08653：Magnet-Aware Control of Legged Robots](https://arxiv.org/abs/2610.08653)