Robot foot

One of the Abigaille wall-crawler robot's six feet, with six degrees of freedom for agile climbing and dry adhesives on its footpad to keep it stuck to surfaces. Tensioned with an elastic band, it is operated by a detaching motor cam with infrared sensor. Its rigid plastic foot is covered with macro-posts, covered in turn with micrometre-scale micro-posts, with mushroom caps on their ends. These are tiny enough that atomic interactions between the plastic and the surface come into play.