Rochat, FrédéricSchoeneich, PatrickLüthi, BarthélémyMondada, FrancescoBleuler, Hannes2010-06-112010-06-112010-06-11201010.1142/9789814329927_0048https://infoscience.epfl.ch/handle/20.500.14299/50756Cy-mag3D is a miniature climbing robot with advanced mobility and magnetic adhesion. It is very compact: a cylindrical shape with 28 mm of diameter and 62 mm of width. Its design is very simple: two wheels, hence two degrees of freedom, and an advanced magnetic circuit. Despite its simplicity, Cy-mag3D has an amazing mobility on ferromagnetic sheets. From an horizontal sheet, it can make transition to almost any intersecting sheet from 10° to 360° - we baptise the last one surface ip. It passes inner and outer straight corners in any almost inclination of the gravity. Cy-mag3D opens new possibilities to use mobile robots for industrial inspection with stringent size limitations, as found in generators. A patent is pending on this system.robotmobileminiaturewheelclimbingmagnetic adhesionmobots[MOBOTS]text::conference output::conference proceedings::conference paper