The goal of this research is to develop a novel controllable and reversible microfibrillar adhesion mechanism which enables pick-and-place manipulation for nonplanar 3D objects. The most of previous researches on controllable adhesion mechanism using microfibrillar adhesives have been limited on planar surfaces, since those fibrillar adhesives are formed onto a rigid backing and have no ability to conform to nonplanar geometries. Integrated with a soft and deformable thin backing layer, the microfibrillar adhesives can achieve a larger contact area than those on the rigid backing, while a stretch of the soft backing can effectively detach the microfibers in contact down to a single fiber-tip contact independent on the object’s geometries.