Gecko has wonderful locomotion abilities and be suitable for modeling a biomimetic wall-climbing robot. During past years, the adhesion mechanisms were proposed and experimentally studied. The remarkable adhesive capacity of gecko feet is achieved by hundreds of thousands of micro-setaes. The combined surface area of up to 10~9 spatulate is sufficient for weak intermolecular forces to sum to as much as 10·atm (～1·MPa)of adhesive pressure. The array of artificial setae was developed by micro-molding, lithography and most recently by carbon nano-tube. But the interaction forces between gecko's foot and substrate and the frictional mechanisms are rarely known.
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