{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,10]],"date-time":"2026-05-10T07:19:54Z","timestamp":1778397594444,"version":"3.51.4"},"reference-count":44,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2025,6,10]],"date-time":"2025-06-10T00:00:00Z","timestamp":1749513600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Council of Humanities, Sciences and Technologies of Mexico","award":["788543"],"award-info":[{"award-number":["788543"]}]},{"name":"PhD grant","award":["788543"],"award-info":[{"award-number":["788543"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Most of the developed and studied service robots for vertical locomotion, as visual inspection, are made up by a rigid body with legs, wheels, or both. Thus, the robot can only displace over regular and\/or flat surfaces since it is not able to adapt to the irregularities and projections of the wall. Therefore, this paper presents the design and analysis of an adaptable robot for vertical locomotion service tasks, which has a body made up of four wheeled legs that can easily adapt to the different irregularities and projections of building facades. The robot uses an Electric Ducted Fan (EDF) as the vortex adhesion system. Each leg has a rubber cover, which allows a higher mechanical adaptability of the robot over different irregularities of the wall. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as mechanical adaptability modeling as well as kinematic and static analysis. Laser sensors are mounted over the robot to measure the adaptability of the robot, between the legs and body, at each time of the experimental tests for vertical locomotion.<\/jats:p>","DOI":"10.3390\/robotics14060079","type":"journal-article","created":{"date-parts":[[2025,6,10]],"date-time":"2025-06-10T06:48:56Z","timestamp":1749538136000},"page":"79","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2785-4650","authenticated-orcid":false,"given":"Ernesto Christian","family":"Orozco-Magdaleno","sequence":"first","affiliation":[{"name":"Escuela de Ingenier\u00eda, Universidad An\u00e1huac Quer\u00e9taro, Quer\u00e9taro 76246, Mexico"},{"name":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada Unidad Quer\u00e9taro, Instituto Polit\u00e9cnico Nacional, Quer\u00e9taro 76090, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3307-6947","authenticated-orcid":false,"given":"Eduardo","family":"Castillo-Casta\u00f1eda","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada Unidad Quer\u00e9taro, Instituto Polit\u00e9cnico Nacional, Quer\u00e9taro 76090, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8650-1185","authenticated-orcid":false,"given":"Omar","family":"Rodr\u00edguez-Abreo","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Santiago de Quer\u00e9taro 76240, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0831-8358","authenticated-orcid":false,"given":"Giuseppe","family":"Carbone","sequence":"additional","affiliation":[{"name":"DIMEG, University of Calabria, 87036 Cosenza, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,6,10]]},"reference":[{"key":"ref_1","first-page":"121","article-title":"A Service Hexapod Robot as Hospital Guide","volume":"20","author":"Cafolla","year":"2019","journal-title":"Int. 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