{"id":"https://openalex.org/W7225630979","doi":"https://doi.org/10.3390/s26217063","title":"Magic-Formula-Based Feedforward Velocity Control of a Magnetically Coupled Wall-Climbing Robot","display_name":"Magic-Formula-Based Feedforward Velocity Control of a Magnetically Coupled Wall-Climbing Robot","publication_year":2026,"publication_date":"2026-11-08","ids":{"openalex":"https://openalex.org/W7225630979","doi":"https://doi.org/10.3390/s26217063"},"language":"en","primary_location":{"id":"doi:10.3390/s26217063","doi":"https://doi.org/10.3390/s26217063","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s26217063","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/s26217063","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102902650","display_name":"Minsu Kim","orcid":"https://orcid.org/0000-0002-5202-5993","observed_orcids":["https://orcid.org/0000-0002-5202-5993"]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minsu Kim","raw_affiliation_strings":["Department of Mechanical Engineering, BK21 FOUR ERICA-ACE Center, Hanyang University, 55 Hanyangdaehak-ro, Ansan 15588, Gyeonggi, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, BK21 FOUR ERICA-ACE Center, Hanyang University, 55 Hanyangdaehak-ro, Ansan 15588, Gyeonggi, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126033350","display_name":"Hoyeon Cho","orcid":"https://orcid.org/0009-0001-8751-8106","observed_orcids":["https://orcid.org/0009-0001-8751-8106","https://orcid.org/0000-0002-9355-2634"]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoyeon Cho","raw_affiliation_strings":["Department of Mechanical Engineering, BK21 FOUR ERICA-ACE Center, Hanyang University, 55 Hanyangdaehak-ro, Ansan 15588, Gyeonggi, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-9355-2634","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, BK21 FOUR ERICA-ACE Center, Hanyang University, 55 Hanyangdaehak-ro, Ansan 15588, Gyeonggi, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026084162","display_name":"Sungkeun Yoo","orcid":"https://orcid.org/0000-0002-5393-2560","observed_orcids":["https://orcid.org/0000-0002-5393-2560"]},"institutions":[{"id":"https://openalex.org/I94588446","display_name":"Hongik University","ror":"https://ror.org/00egdv862","country_code":"KR","type":"education","lineage":["https://openalex.org/I94588446"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sungkeun Yoo","raw_affiliation_strings":["College of Engineering, Hongik University, 94 Wau-San-ro, Mapo-gu, Seoul 04066, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5393-2560","affiliations":[{"raw_affiliation_string":"College of Engineering, Hongik University, 94 Wau-San-ro, Mapo-gu, Seoul 04066, Republic of Korea","institution_ids":["https://openalex.org/I94588446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101548410","display_name":"Taegyun Kim","orcid":"https://orcid.org/0000-0002-7655-1883","observed_orcids":["https://orcid.org/0000-0002-7655-1883"]},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Taegyun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, BK21 FOUR ERICA-ACE Center, Hanyang University, 55 Hanyangdaehak-ro, Ansan 15588, Gyeonggi, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7655-1883","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, BK21 FOUR ERICA-ACE Center, Hanyang University, 55 Hanyangdaehak-ro, Ansan 15588, Gyeonggi, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026084162","https://openalex.org/A5101548410"],"corresponding_institution_ids":["https://openalex.org/I4575257","https://openalex.org/I94588446"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"21","first_page":"7063","last_page":"7063"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9038000106811523,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9038000106811523,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.04230000078678131,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.03020000085234642,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wall-climbing-robot","display_name":"wall-climbing robot","score":0.9829999804496765},{"id":"https://openalex.org/keywords/magic-formula-tire-model","display_name":"Magic Formula tire model","score":0.9100000262260437},{"id":"https://openalex.org/keywords/magnetic-coupling","display_name":"magnetic coupling","score":0.7860000133514404},{"id":"https://openalex.org/keywords/ascent-and-descent","display_name":"ascent and descent","score":0.8730000257492065}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8075000047683716},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7766000032424927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44920000433921814},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4316999912261963},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4154999852180481},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.40139999985694885},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3637000024318695},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3133000135421753},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C16910744","wikidata":"https://www.wikidata.org/wiki/Q7705759","display_name":"Test data","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2962000072002411},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2946000099182129},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2858999967575073},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2754000127315521}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/s26217063","doi":"https://doi.org/10.3390/s26217063","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s26217063","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/s26217063","doi":"https://doi.org/10.3390/s26217063","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s26217063","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320334881","display_name":"Korea Forest Service","ror":"https://ror.org/05bjbww34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1994349244","https://openalex.org/W2031367083","https://openalex.org/W2082064389","https://openalex.org/W2083365813","https://openalex.org/W2125108228","https://openalex.org/W2526933392","https://openalex.org/W2759309029","https://openalex.org/W2790630577","https://openalex.org/W2945221611","https://openalex.org/W3049648607","https://openalex.org/W3089537413","https://openalex.org/W3090994674","https://openalex.org/W3213490840","https://openalex.org/W4322501175","https://openalex.org/W4366829854","https://openalex.org/W4394621193","https://openalex.org/W4401813955","https://openalex.org/W4402206929","https://openalex.org/W4406731230","https://openalex.org/W4409431110","https://openalex.org/W4412956600"],"related_works":["https://openalex.org/W2970925695","https://openalex.org/W7160542768","https://openalex.org/W2884728045","https://openalex.org/W7120463701","https://openalex.org/W2376719514","https://openalex.org/W2971915901","https://openalex.org/W2387979294","https://openalex.org/W4316690355","https://openalex.org/W4417360301","https://openalex.org/W3112772790"],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"a":[3,16,33,87],"model-based":[4],"feedforward":[5,166],"method":[6,138],"for":[7],"reducing":[8],"velocity":[9,112,122,144],"errors":[10,119],"during":[11],"the":[12,27,37,49,53,71,79,82,92,114,117,160,164,169],"vertical":[13],"travel":[14,124],"of":[15,26,52,60,91,163],"magnetically":[17],"coupled":[18],"wall-climbing":[19],"robot.":[20,93],"Permanent":[21],"magnets":[22],"on":[23],"opposite":[24],"sides":[25],"wall":[28],"maintain":[29],"magnetic":[30],"coupling,":[31],"while":[32],"spring-preloaded":[34],"linkage":[35],"adjusts":[36],"drive-wheel":[38],"normal":[39,58],"force.":[40],"A":[41],"dedicated":[42],"test":[43],"bench":[44],"was":[45,139],"used":[46],"to":[47,70,99],"measure":[48],"traction\u2013slip":[50],"characteristics":[51],"urethane":[54],"roller\u2013acrylic":[55],"contact":[56],"at":[57],"forces":[59],"20":[61],"and":[62,81,102,123,134,146,151],"30":[63],"N.":[64],"Magic":[65],"Formula":[66],"models":[67,80],"were":[68,76,97],"fitted":[69],"measurements.":[72],"Representative":[73],"slip":[74],"magnitudes":[75,96],"calculated":[77],"from":[78],"ascent":[83,101],"force":[84],"balance":[85],"using":[86],"nominal":[88],"equivalent":[89],"resistance":[90],"These":[94],"fixed":[95,165],"applied":[98],"both":[100],"descent":[103],"through":[104],"direction-dependent":[105],"wheel-velocity":[106],"commands.":[107],"In":[108],"experiments":[109],"without":[110],"longitudinal":[111],"feedback,":[113],"compensation":[115,167],"reduced":[116],"absolute":[118],"in":[120,153],"mean":[121],"distance,":[125],"averaged":[126],"over":[127],"all":[128],"tested":[129,170],"conditions,":[130],"by":[131],"approximately":[132],"76%":[133],"69%,":[135],"respectively.":[136],"The":[137,157],"also":[140],"integrated":[141],"with":[142],"proportional\u2013integral":[143],"feedback":[145],"pure":[147],"pursuit":[148],"path":[149],"tracking":[150],"assessed":[152],"repeated":[154],"ascent\u2013descent":[155],"trials.":[156],"results":[158],"demonstrate":[159],"error-reduction":[161],"capability":[162],"under":[168],"conditions.":[171]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-10T00:00:00"}