A method of forming synthetic dry adhesives is provided that includes using a combined wedge indenting and orthogonal machining process to form tapered mold cavities in a mold, filling the tapered mold cavities with an elastomeric adhesive, curing the elastomeric adhesive in the tapered mold cavities, and removing the elastomeric adhesive from the mold, where a plurality of tapered lamellar ridges extend from a surface of the elastomeric adhesive.