Ever since I started working with lizards I have been intrigued by how their morphological traits affect their locomotion. How an animal moves in the wild is key for its survival and, ultimately, its fitness. Having different body postures, such as a sprawled one in lizards, different limb orientations, and various adaptive traits selected for a particular habitat, are only a few examples of aspects that affect performance not only in lizards, but in all living organisms. These adaptive traits are not only morphological but also biomechanical, and will allow a species to succeed in that particular habitat and, potentially, increase its niche range. Each habitat has its own requirements, which pose certain demands on the organismal morphological design; the arboreal habitat is one of the niches which include challenges that have led to ecomorphological specializations driving morphological traits such as claws, adhesive toepads, prehensile tails, spines etc. By using 3D kinematics and kinetics, I want to aim to understand how some of these traits are employed and combined with new biomechanical strategies such as stride length/stride frequency modulations and clinging forces (among others) in lizards representing classic models of adaptive radiations. This research will likely encourage the application of its findings in other bioinspired fields, such as robotics, having significant consequences in the biomimetic industry.