In this paper, a way for improving adhesion of a mobile robot (HeartLander) on biological tissue is presented, that integrates bioinspired gecko adhesive fibers on the robot surface. HeartLander is a medical robot proposed to perform clinical procedures on a beating heart, overcoming limitations of current cardiac procedures. Biologically inspired gecko fibers have been proposed for adhesion on surfaces. The aim of this work is to assess the advantages of integrating these structures for enhancing the grip between the artificial device and the myocardial tissue. Experimental in vitro tests have been carried out assessing the performance of the HeartLander attached to muscular tissue. The effect of the adhesive fibers on improving the adhesion behavior on a slippery surface has been investigated, obtaining a friction increase of 57.3 %.