We know that Lucy, the famous Australopithecus afarensis, could climb trees because her many bone fractures show that she fell out of a tree to her death. But that does not mean her species was an habitual tree-climber: plenty of modern humans fall to their deaths from trees, cliffs and the like. But the issue seems to have been resolved by using X-ray tomography of Lucy’s limb bones (Ruff, C.B. et al. 2016. Limb bone structural proportions and locomotor behaviour in A.L. 288-1 (“Lucy”). PLOS ONE v. 11, e0166095. doi:10.1371/journal.pone.0166095) during the skeleton’s triumphal series of exhibits in the US.
The authors, including two of those who showed that Lucy died after a fall using similar data, compared the digital 3-D models of her surviving arm- and leg bones with those of other hominins and living primates, estimating their relative strengths at different positions. Lucy was probably stronger in the arm than in the leg, but not to the same degree as chimpanzees. This is a feature that would significantlyassist climbing , but her bipedal locomotion on the ground would have been only slightly different from that of later Homo species. If anything, her strength relative to size would have been greater than ours, perhaps reflecting less reliance on tools for getting food and defending herself. But almost certainly Australopithecus afarensis habitually spend more time in trees, perhaps foraging and as a defence against predation, especially at night.
The new data for Lucy allows palaeoanthropologists to better judge the capabilities of other hominins. Interestingly Homo habilis, the earliest of our genus, may have had similar habits. But later species, beginning with H. erectus/ergaster, were as Earth-bound as we are. This suggests a shift in hominin ecology from an early and probably long history of semi-arboreal behavior until humans became masters of their terrain about 1.9 Ma ago, probably through their invention of better tools and the controlled use of fire.