The Biomimetic Robotics Lab investigates the way of using a tail to improve maneuverability of the MIT Cheetah. The research was initiated with the inspiration from videos, showing that the cheetah’s turn is accompanied by a movement of its tail, and some researches in biology, describing that cats or dogs are moving their tail during locomotion. We end up with hypothesizing that a tail may enhance balance of the legged robot. This hypothesis is investigated with three examples.