In my opinion, the primary difference is not about 'resiliance VS general ability' but rather between суметь as 'repeating actions' (iterative) VS смочь as momentary action.
Most of Russian prefixes usually make a perfective form, which can be iterative or momentary.
Semantically, суметь comes from уметь - 'to know how to' - and смочь goes back to мочь (may &/or can); therefore it's possible to say
Я смогу дойти.
Я смогу ходить.
Я смогу гулять.
Я смогу погулять.
Я смогу прогуляться.
but not (or possible just under some specific circumstances)
Я сумею дойти.
Я сумею ходить.
Я сумею гулять.
Я сумею погулять.
Я сумею пpогуляться.
The reason is that verbs like жить, ходить, играть, дышать or гулять and most of their prefixised forms have habitual connotations, which don't quite get along well with iterative infinitive.