MagGAT: Structure-Aware Spatiotemporal Graph Attention for Motor-Induced Magnetic Interference Compensation in Quadruped Robots
Permanent-magnet synchronous motors enable precise motion control in compact robots, but their leakage fields can corrupt onboard magnetometer measurements. Physics-based compensation is effective under fixed geometric conditions, whereas quadruped locomotion continuously changes the motor–sensor relationship. We propo...
Qi Xue, You Li, Chen Wang et al.
· Sensors · 0 citations