Locomotion is an essential character of animals,and excellent moving ability results from delicate sensing the reaction forces acting on body and modulating the locomotor behaviour to adapt to the motion requirement.However,the moving ability of climbing robots still lags far behind that of climbing animal.A primary cause is the insufficiency of our understanding of how animal govern their climbing locomotion.To reveal the fundamental mechanism of climbing locomotion and also to develop the performance of climbing robots,we have measured the reaction forces(RFs)acting on each individual foot of moving geckos on vertical substrates and have recorded the locomotor behaviours by using high-speed camera associated with the RFs.