Directional adhesion for climbing: theoretical and practical considerations

@article{Santos2007DirectionalAF,
  title={Directional adhesion for climbing: theoretical and practical considerations},
  author={Daniel Santos and Matthew Spenko and Aaron Parness and Sangbae Kim and Mark R. Cutkosky},
  journal={Journal of Adhesion Science and Technology},
  year={2007},
  volume={21},
  pages={1317 - 1341}
}
Using the gecko as inspiration, important principles are revealed for reliable maneuvering on vertical surfaces. Foremost among these is the directional behavior of the gecko adhesive system, which permits control of adhesion via control of the tangential forces at the feet. Multiple hierarchical levels of compliance are also important for conforming intimately to surfaces with varying degrees of roughness and different length scales. In light of these requirements, most previously developed… 

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