Foot acts as a gravity sucking pad.  Pressure variation is highly dynamic for landings and releases.  Suitable  for horizontal earth climbing.  Landing, releasing, repositioning, landing. Pulling the CoM towards the foot increasing anchoring result… ” ‘pushing’ pads away from the body results in an unstable contact, reflected in a rapid decrease in contact area and thus effortless detachment, whereas ‘pulling’ pads towards the body results in a stable or increasing contact area, and strong attachment.” http://dx.doi.org/10.1098/rstb.2019.0199