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U.S. warfighters operate in all manner of environments, including tight urban terrain. The safety and effectiveness of the warfighter demand maximum flexibility for maneuvering and responding to circumstances. To overcome obstacles and secure entrance and egress routes, warfighters frequently rely on ropes, ladders and related climbing tools. Such climbing tools cost valuable time to use, have limited application and add to the load warfighters are forced to carry during missions. The Z-Man programs aims to develop biologically inspired climbing aids to enable warfighters to scale vertical walls constructed from typical building materials, while carrying a full combat load, and without the use of ropes or ladders.