Abstract: Gecko has a superb locomotive capacity on variety surface, such as the ground, walls, ceilings and other complex environment in space. By analyzing the locomotion of gecko’s toe adhesion structure and adhesion methods, bionic gecko’s toe is designed which has several minimal adhering folds with flexible cantilever structure. By using multipurpose friction force experimental platform, the adhesion performance of bionic gecko’s toe is analyzed, including the changing of the maximum tensile adhesion force of bionic gecko’s toe with the adhesion numbers, the different stretching angles, different adhesion trajectories, and so on. The experiment shows that bionic gecko’toe has similar adhesion force performance with gecko’s toe. When the bionic gecko’s toe is designed for bionic gecko robot foot, the bionic gecko robot successfully achieves 90 degree wall-climbing movement.

Key words: Adhesive locomotion, Bionic gecko’s toe, Performance test, Structure design