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Figure 6


Fig. 6. (A) Planar model of a gecko on a flat inclined surface. {theta} is the angle of inclination and ranges from 0° (flat) to 180° (inverted). Center of mass was 2 cm above the surface and centered between the front and rear feet. A distance of 10 cm separated front and rear feet. For static equilibrium, forces in y and z and moment about x (not shown) must balance to zero. (B) Graphical description of stability margin. Given a particular point in force-space, the stability margin is shown using the frictional adhesion model (d1) and the Kendall peel model (d2). For the JKR model, the point shown would violate stability criteria and result in a negative stability margin. Stability margin is the minimum distance in any direction to avoid violating a constraint.





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