Author

C. McGreavy

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Preprint Oct 2026

Magnet-Aware Control of Legged Robots

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...

J. Garai, S. Djuve, C. McGreavy et al. · 0 citations