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Fig. 8. (A) MechoGecko and (B) BullGecko, small (4 cm long), climbing robots designed by iRobot Corp. The designs of the feet and treads of the robots were inspired biologically by the toe-peeling mechanism of gecko toes. MechoGecko used pressure sensitive adhesive (PSA) feet. The spherical foot shape promoted peeling to reduce pull-off force. MechoGecko's trispoke legs caused significant velocity fluctuations during climbing. BullGecko used PSA tracks to peel as it climbed. The track design allowed BullGecko to exert a constant fore–aft force on the COM.