Can think about it in conjunction with trajectory design (compliant mechanism kinematics)
Arachi - good for forward, iterative simulations (but slow...)
Simplified MATLAB model - could be good for quick forward iterative simulations and possible backward analysis.
backward = a more analytical look at things - something akin to return maps... A good possibility is some sort of statistical analysis dealing with probabilities of attachment/adhesion, but that would come later...
Currently depicts ellipsoids representing compliance or stiffness at contact and resultant stiffness at CG.
Major question is how to determine what compliance/stiffness is required. What forces and contact characteristics are needed obviously factors in.
Alan has a great presentation of his work on SpinyBot - thoughts on axial and normal forces required for climbing given multiple compliant hooks (toes) on a foot.
Role of a Stiffening Spring? Actually, role of non-linear springs in general...
nice = compliant for attachment, then stiff for climbing.