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Goodfellow's tree kangaroo, like other tree kangaroos, differs markedly from the terrestrial kangaroo because it has developed various arboreal adaptations, including shorter legs with broad, cushionlike soles, stocky, strong arms, and a long tail for balance.

It can climb smooth tree trunks up to fifteen feet (4.5 m) high and leap long distances.

Rare, solitary, and nocturnal, this tree kangaroo may occasionally be seen in the early evening.

When it moves on the ground, it takes small hopping steps, alternating between its forearms and hindlegs and holding its tail above the ground in an arched position. In this way, it can reach modest speeds of five miles (8 km) per hour.

The genus name Dendrolagus comes from Greek words signifying "tree hare."

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