This video contains close-up black and white high-speed video footage of the robot climbing up a glass surface using office tape.  On the left is the footage from the contact camera which views the contact of the foot from behind the glass.  On the right is the footage from the approach camera which views the robot from the side. One step from FS, FD, A,  WS, and WD configurations are shown.  This video is intended to be a companion video to ICRA 2007 paper "Passive Foot Design and Contact Area Analysis for Climbing Mini-Whegs(TM)".