Fig. 5. Asynchrony in the movements of the two hind legs leads to a rotation of the body at take-off. The right hind leg (black arrow) was first depressed at frame –2.0 ms so that its tarsus was placed fully on the ground. The tarsus of the left hind leg is off the ground. The effect was to rotate the body so that the left side moved closer to the ground. At –1.0 ms the left hind leg was depressed (white arrow) so that its tarsus now contacted the ground. The contribution of this leg now rotated the body in the opposite direction and this rotation dominated at take-off and when airborne.