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There actually is a commercially available robot that climbs smooth surfaces in the exact same manner. Here it is:http://scientificsonline.com/product.asp_Q_pn_E_3036976It's $10. Maybe you can use cash out of your own wallet and take it apart and see how it works mechanically. I actually owned one and turned it into other things. It should be helpful creating your own.
If you get gianormous suction cups, sure it could hold up 100 pounds, but you're going to need a 50 pound motor to get it off *sarcasm*.
and is motor driver IC better than H-bridge?
it has a lot to do with how you pull the suction cup off, too. peeling takes much less force, for example. its kinda like gecko hands . . .
The suction cups are an amorphous material, so they most likely will not change durastically pulling from different angles.
Here's another one, with a very novel foot/walking design:http://www.technologyreview.com/Infotech/18602/