Fig. 1. Kinematic events during an autonomous take-off in a male rufous hummingbird (Selasphorus rufus; body weight=30.7 mN). (A–F) Selected frames from 1000 Hzvideo illustrating body and wing posture; letters and timing (ms) for each frame correspond directly to those on the graph below. Vectors represent reaction forces produced by the hindlimbs on the perch; white scale bars, 10 mN. This sequence lasts 150 ms, and two wingbeats were completed prior to the end of take-off, defined as the start of the first downstroke after end of leg thrust.