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MARVEL excels over prior climbing robots in terms of climbing speed and ability to execute various motions. It demonstrates the fastest vertical and inverted walking speed, whereas its versatile locomotion ability enables the highest number of gaits and locomotion tasks. The key innovations are an integrated foot design using electropermanent magnets and magnetorheological elastomers that provide large adhesion and traction forces, torque control actuators, and a model predictive control framework adapted for stable climbing. In experiments, the robot achieved locomotion on ceilings and vertical walls up to 0.5 meter (1.51 body lengths) per second and 0.7 meter (2.12 body lengths) per second, respectively. Furthermore, the robot exhibited complex behaviors such as stepping over 10-centimeter-wide gaps; overcoming 5-centimeter-high obstacles; and making transitions between floors, walls, and ceilings. We also show that MARVEL could climb on a curved surface of a storage tank covered with up to 0.3-millimeter-thick paint with rust and dust.<\/jats:p>","DOI":"10.1126\/scirobotics.add1017","type":"journal-article","created":{"date-parts":[[2022,12,14]],"date-time":"2022-12-14T18:58:08Z","timestamp":1671044288000},"source":"Crossref","is-referenced-by-count":102,"title":["Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7838-3839","authenticated-orcid":true,"given":"Seungwoo","family":"Hong","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3681-7453","authenticated-orcid":true,"given":"Yong","family":"Um","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5683-8193","authenticated-orcid":true,"given":"Jaejun","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6130-6589","authenticated-orcid":true,"given":"Hae-Won","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","unstructured":"S. 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Di Carlo P.\u00a0Wensing B.\u00a0Katz G.\u00a0Bledt S.\u00a0Kim Dynamic locomotion in the MIT cheetah 3 through convex model-predictive control in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2018) pp.\u00a01\u20139.","DOI":"10.1109\/IROS.2018.8594448"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3046415"},{"key":"e_1_3_2_53_2","doi-asserted-by":"crossref","unstructured":"A. Agrawal S.\u00a0Chen A.\u00a0Rai K.\u00a0Sreenath Vision-aided dynamic quadrupedal locomotion on discrete terrain using motion libraries in IEEE International Conference on Robotics and Automation (IEEE 2022) pp.\u00a04708\u20134714.","DOI":"10.1109\/ICRA46639.2022.9811373"},{"key":"e_1_3_2_54_2","doi-asserted-by":"crossref","unstructured":"Y. Shin S.\u00a0Hong S.\u00a0Woo J.\u00a0Choe H.\u00a0Son G.\u00a0Kim J.\u00a0Kim K.\u00a0Lee J.\u00a0Hwangbo H.-W. 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