a bio - inspired device is provided designed to scale smooth vertical surfaces using anisotropic frictional materials . the device draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb smooth vertical surfaces including glass , tile and plastic panels . foremost among the design features embodied in the device are multiple levels of compliance , at length scales ranging from centimeters to micrometers , to allow the device to conform to surfaces and maintain large real areas of contact so that adhesive forces can support it . structures within the feet ensure even stress distributions over each toe and facilitate engagement and disengagement of the adhesive materials . a force control strategy works in conjunction with the anisotropic adhesive materials to obtain sufficient levels of friction and adhesion for climbing with low attachment and detachment forces .