Mobile robots have been used in civil infrastructures for structural health monitoring. It is advantageous to utilize magnetic robots because structures requiring inspection are made of ferromagnetic materials. Magnetic stability is one of the most important factors in these robots. This paper presents a magnetic force control climbing robot for moment compensation. Most of the climbing robots climb with inspection equipment, so the center of gravity of the robot is slanted to one side. So, the moment generated in the robot changes according to the direction in which the robot moves. Since the risk of dropping the robot increases according to the direction of the moment, a technology for compensating the moment ie required. In order to compensate for the moment by controlling the adhesion force of the robot, a climbing robot capable of controlling magnetic force was developed and the performance of magnetic control was verified. The developed Magnetic Force Control uses permanent magnets, ferromagnetic materials, and Wheels to induce magnetic flux generated from the magnet to the wheel. In this structure, changing the effective area between the magnet and the ferromagnetic body changes the amount of magnetic flux induced in the wheel. Using this principle, a magnetic force control unit that can control the magnetic force generated between the wheel and the attachment surface was developed. Through adhesion force measurement experiments, the performance was verified by showing a similar rate of 90% or more to the simulation results. In addition, as a result of manufacturing a climbing robot equipped with a magnetic control unit and conducting a driving experiment, it was shown that stable movement was possible regardless of the direction of progress.