Book excerpt: By employing a combination of approaches from several disciplines the authors elucidate the principles of a variety of biomechanical systems that rely on frictional surfaces or adhesive secretions to attach parts of the body to one another or to attach organisms to a substrate. This account provides an excellent starting point for engineers and physicists working with biological systems and for biologists studying friction and adhesion. It will also serve as a valuable introduction for graduate students entering this interdisciplinary field of research.