Pitch Posture Regulation in Peking Geckos (gekko Swinhonis): Assessing the Role of Tails Before Take-off in Upward Jumping

Small vertebrates, such as geckos, often use their tails to regulate their posture after take-off and suppress abnormal rotations in mid-air (such as sliding and falling). However, research on tail function before take-off remains scarce, particularly when animals overcome gravity to jump upward. This study examined tailed and tailless geckos’ ability to jump over obstacles. The tails swung up and reached their upper limits during take-off, corresponding to a continuous increase in their trunk elevation angle. Compared to tailless geckos, geckos with intact tails had lower body and tail angular velocities. In addition, tailed geckos achieved larger take-off angles and higher jumps; moreover, their take-off angles were consistent with their velocity angles. Theoretical analyses demonstrated that the tail and its upward swing before take-off could benefit lifting the forelimb and hindlimbs off the ground, expanding the stability area of their centre of mass (COM). A robot prototype verified the effect of the tail and its swing on trunk elevation before take-off. Other parameters, such as the posture of the hindlimbs (support length and angle) and initial angle of the trunk, affect posture regulation. This study significantly extends our knowledge in animal locomotion and provides indispensable information for improving robot jumping ability.