Figure 10.

Sources of bioinspiration for attachment systems from the animal tree of life. Shown are the example groups in which attachment systems occur from Figure 1. The functional aspects i) hairy attachment pads (green), ii) smooth attachment pads (purple) and claws (orange), which can inspire the technical application on a four- or six-legged robot is linked by the colour mapping of the groups which include species that represent examples of the mechanism and may serve as a biological source of inspiration. The green and purple icons were adapted with permission from [1], R. G. Beutel et al., “Ultrastructure of attachment specializations of hexapods (Arthropoda): evolutionary patterns inferred from a revised ordinal phylogeny”, J. Zool. Syst. Evol. Res., with permission from John Wiley and Sons. Copyright © 2001 John Wiley & Sons. This content is not subject to CC BY 4.0. The schematic robot was redrawn after [294] (© 2020 Billeschou et al., published by MDPI, distributed under the terms of the Creative Commons Attribution 4.0 International License, https://creativecommons.org/licenses/by/4.0).