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A 10 cm hexapedal robot is adapted to dynamically climb near-vertical smooth surfaces. A gecko-inspired adhesive is mounted with an elastomer tendon and polymer loop to a remote-center-of-motion ankle that allows rapid engagement with the surface and minimizes peeling moments on the adhesive. The maximum velocity possible while climbing decreases as the incline gets closer to vertical, with the robot able to achieve speeds of 10 cm second −1 at a 70-degree incline. A model is implemented todoi:10.1109/iros.2012.6385775 dblp:conf/iros/BirkmeyerGF12 fatcat:kbvkj6cdtzf5tfl76d3nstlq4m