{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,4]],"date-time":"2025-12-04T09:57:21Z","timestamp":1764842241115,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,5,31]],"date-time":"2019-05-31T00:00:00Z","timestamp":1559260800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration, with the surface to climb interposed between them. Thanks to this configuration, the mobile robot can climb even nonferromagnetic and curved surfaces; moreover, the master cart is capable of freely moving on the floor by detaching from the follower. In this paper, we propose the mathematical modeling, simulation, and experimental validation of this kind of robots, with particular focus on the transitions between floor and climbing motion.<\/jats:p>","DOI":"10.3390\/robotics8020041","type":"journal-article","created":{"date-parts":[[2019,5,31]],"date-time":"2019-05-31T11:59:56Z","timestamp":1559303996000},"page":"41","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5563-9595","authenticated-orcid":false,"given":"Stefano","family":"Seriani","sequence":"first","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0770-0275","authenticated-orcid":false,"given":"Lorenzo","family":"Scalera","sequence":"additional","affiliation":[{"name":"Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy"},{"name":"Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy"}]},{"given":"Matteo","family":"Caruso","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy"}]},{"given":"Alessandro","family":"Gasparetto","sequence":"additional","affiliation":[{"name":"Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy"}]},{"given":"Paolo","family":"Gallina","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2019,5,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Cesetti, A., Scotti, C., Di Buo, G., and Longhi, S. 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