{"id":"https://openalex.org/W2948643597","doi":"https://doi.org/10.3390/robotics8020041","title":"Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems","display_name":"Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems","publication_year":2019,"publication_date":"2019-05-31","ids":{"openalex":"https://openalex.org/W2948643597","doi":"https://doi.org/10.3390/robotics8020041","mag":"2948643597"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8020041","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8020041","pdf_url":"https://www.mdpi.com/2218-6581/8/2/41/pdf?version=1559303731","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/8/2/41/pdf?version=1559303731","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039268440","display_name":"Stefano Seriani","orcid":"https://orcid.org/0000-0002-5563-9595"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stefano Seriani","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5563-9595","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075963224","display_name":"Lorenzo Scalera","orcid":"https://orcid.org/0000-0002-0770-0275"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]},{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Scalera","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy","Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0770-0275","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]},{"raw_affiliation_string":"Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063657336","display_name":"Matteo Caruso","orcid":"https://orcid.org/0000-0002-4586-6823"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Caruso","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029638799","display_name":"Alessandro Gasparetto","orcid":"https://orcid.org/0000-0001-9902-9783"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Gasparetto","raw_affiliation_strings":["Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037895834","display_name":"Paolo Gallina","orcid":"https://orcid.org/0000-0003-0296-9475"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Gallina","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039268440"],"corresponding_institution_ids":["https://openalex.org/I142444530"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.7783,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.83064676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":"2","first_page":"41","last_page":"41"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/climb","display_name":"Climb","score":0.965814471244812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7985521554946899},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6591559648513794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6335690021514893},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5443971753120422},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5328244566917419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4675511419773102},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34751269221305847},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3315507769584656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32027193903923035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25162166357040405},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19872424006462097},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13963988423347473},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11421772837638855}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.965814471244812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7985521554946899},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6591559648513794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6335690021514893},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5443971753120422},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5328244566917419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4675511419773102},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34751269221305847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3315507769584656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32027193903923035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25162166357040405},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19872424006462097},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13963988423347473},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11421772837638855},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/robotics8020041","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8020041","pdf_url":"https://www.mdpi.com/2218-6581/8/2/41/pdf?version=1559303731","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:air.uniud.it:11390/1158748","is_oa":true,"landing_page_url":"http://hdl.handle.net/11390/1158748","pdf_url":null,"source":{"id":"https://openalex.org/S4306401163","display_name":"Institutional Research Information System (University of Udine)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I129043915","host_organization_name":"University of Udine","host_organization_lineage":["https://openalex.org/I129043915"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:arts.units.it:11368/2952707","is_oa":true,"landing_page_url":"http://hdl.handle.net/11368/2952707","pdf_url":null,"source":{"id":"https://openalex.org/S4306402362","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:adb1566dbfa647beb492e168b2e31c0e","is_oa":true,"landing_page_url":"https://doaj.org/article/adb1566dbfa647beb492e168b2e31c0e","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 8, Iss 2, p 41 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/8/2/41/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics8020041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics8020041","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8020041","pdf_url":"https://www.mdpi.com/2218-6581/8/2/41/pdf?version=1559303731","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2948643597.pdf","grobid_xml":"https://content.openalex.org/works/W2948643597.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1499937460","https://openalex.org/W1918413339","https://openalex.org/W1963492753","https://openalex.org/W1985283556","https://openalex.org/W2006817210","https://openalex.org/W2026843496","https://openalex.org/W2038962618","https://openalex.org/W2049371344","https://openalex.org/W2053188425","https://openalex.org/W2060478162","https://openalex.org/W2062966171","https://openalex.org/W2084705860","https://openalex.org/W2086456025","https://openalex.org/W2087300890","https://openalex.org/W2096780166","https://openalex.org/W2139597907","https://openalex.org/W2139833024","https://openalex.org/W2154758509","https://openalex.org/W2159570978","https://openalex.org/W2304955063","https://openalex.org/W2505926274","https://openalex.org/W2515251285","https://openalex.org/W2548179681","https://openalex.org/W2574078266","https://openalex.org/W2585752154","https://openalex.org/W2753198645","https://openalex.org/W2766277593","https://openalex.org/W2766749439","https://openalex.org/W2766911425","https://openalex.org/W2767126842","https://openalex.org/W2784086122","https://openalex.org/W2889255979","https://openalex.org/W2899073254","https://openalex.org/W6680150269","https://openalex.org/W6746006380"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,88],"this":[1,59,89,101],"paper,":[2,90],"we":[3,91],"present":[4],"the":[5,36,39,50,61,72,81,86,93,109],"modeling":[6],"and":[7,38,68,97,113],"validation":[8,99],"of":[9,13,19,33,77,100,103],"a":[10,46],"new":[11],"family":[12],"climbing":[14,114],"robots":[15],"that":[16],"are":[17,43],"capable":[18,76],"adhering":[20],"to":[21,52,58],"vertical":[22],"surfaces":[23],"through":[24],"permanent":[25],"magnetic":[26],"elements.":[27],"The":[28],"robotic":[29],"system":[30],"is":[31,75],"composed":[32],"two":[34],"modules,":[35],"master":[37,73],"follower":[40],"carts,":[41],"which":[42],"arranged":[44],"in":[45],"sandwich":[47],"configuration,":[48,60],"with":[49,105],"surface":[51],"climb":[53,65],"interposed":[54],"between":[55,111],"them.":[56],"Thanks":[57],"mobile":[62],"robot":[63],"can":[64],"even":[66],"nonferromagnetic":[67],"curved":[69],"surfaces;":[70],"moreover,":[71],"cart":[74],"freely":[78],"moving":[79],"on":[80,108],"floor":[82,112],"by":[83],"detaching":[84],"from":[85],"follower.":[87],"propose":[92],"mathematical":[94],"modeling,":[95],"simulation,":[96],"experimental":[98],"kind":[102],"robots,":[104],"particular":[106],"focus":[107],"transitions":[110],"motion.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-27T08:22:11.395708","created_date":"2019-06-14T00:00:00"}
