In this review, we present various results obtained by friction force
microscopy in the last decade. Starting with material-specific contrast,
commonly observed in friction force maps, we discuss how the load dependence
of friction and the area of contact have been estimated and compared to
elasticity theories. The features observed in a sliding process on the atomic
scale can be interpreted within the Tomlinson model. An extension of the
model, including thermal effects, predicts a smooth velocity dependence of
friction, which recent experiments have confirmed. Other subjects like
anisotropy of friction, role of environment, topographical effects, electronic
friction and tip modifications are also discussed. The growing importance of
molecular dynamics simulations in the study of tribological processes on the
atomic scale is outlined.