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Fig. 6. Mean peak GRFs of single legs in geckos climbing (D–F) and running on
level ground (A–C). (A) On a level, normal GRFs were always positive.
(B) Geckos running over level ground used the forelegs to produce only
deceleratory forces, while hindlegs first produced deceleratory forces during
the first part of each step, and then produce acceleratory forces during the
second part of each step. (C) All four legs pushed laterally away from the
midline of the body such that the left legs produced forces that pushed the
gecko to the right, while the right legs produced forces that pushed the gecko
to the left. (D) In climbing geckos, forelegs produced forces that pushed the
gecko away from the vertical surface, while hindlegs produced forces that
pulled the gecko toward the vertical surface. (E) Climbing geckos produced
positive fore–aft forces that propelled the gecko upwards. (F) During
climbing, all four legs pulled laterally towards the midline of the body such
that the left legs produced forces that pulled the gecko to the left, while
the right legs produced forces that pulled the gecko to the right. The
directions of lateral GRFs during climbing were opposite to those produced
during level running.
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