Considering the paper the translators' notes reference specifically mentions van der Waals force as being a contributing factor to adhesion (albeit less so than contact electrification), and the fact that both vdW and CE both only become raised to macroscopic significance via the nanoscopic setae on a gecko's foot, Mikado's explanation is still resonably accurate.
Of course, physical phenomena just don't function the same at every scale; an ant could fall from five miles high and be unharmed, and the surface area of Majira's feet just isn't going allow adhesion for someone his mass.
Well, it's a cool story anyhow.