Angular observation of joints of geckos moving on horizontal and vertical surfaces

New research shows that gecko's joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces. Alternative gaits had little effect on the swing angle of hind limbs of the geckos moving on both horizontal and vertical surfaces.

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