# Bionic Design of a Miniature Jumping Robot
## 1 Introduction  
The rapid advancement of science and technology has necessitated the development of efficient, intelligent, and multifunctional micro-robots. Micro-robots are currently plagued by two main problems: the complex motions and long execution times of footed robots [1; 2; 3] traversing small target obstacles, and the restricted movement of wheeled tracked robots [4; 5; 6] with strong maneuverability in complex terrain. It becomes more difficult for micro-robots to navigate efficiently in natural unstructured environments as their size decreases [7]. Jumping robots are an excellent solution to these problems. With a small contact area and high energy efficiency, they can overcome obstacles several times their size [8; 9] in a short period of time and adapt to unstructured terrain, which holds great potential for future applications in rescue and military operations and exploration. In recent years, several research teams both domestically and abroad have developed some miniature jumping robots by drawing inspiration from insects including grasshoppers, fleas, and foam cicadas. Using two torsion springs as energy storage elements, the Swiss Federal Institute of Technology in Lausanne has designed a locust-like jumping robot with excellent jumping capabilities [10], which weighs only 7 g and is capable of jumping to a height of 1.38 m, which is about 27 times its own dimensional height. The Sant' Anna Institute of Higher Studies in Italy designed a cicada-like jumping robot with two linear springs for energy storage by optimizing the leg length ratio [11], which enables stable landings and continuous jumps with a jump height of approximately 100 mm. Based onthe principle of frog-leg jumping, [PERSON] et al. from Shenyang University of Aeronautics and Astronautics designed a jumping robot with a deformed wheel structure that integrates wheeling and jumping [12], which can achieve jumping direction controllability, and tests have shown that a 300 g robot can achieve a maximum jump height of 285 mm. [PERSON] et al. from the University of Washington, U.S. proposed a Yak jumping robot [13]. The robot has a symmetrical mechanical structure with two shape memory alloy (SMA) spring actuators in the upper and lower parts, which are driven by radio transmission to store energy by converting the linear displacement of the SMA springs into a bending moment. According to the test results, the 216 mg robot has a vertical jump height of 138 mm, making it one of the top insect-grade wirelessly powered robots for jumping performance. The University of California proposed a crawling jumping robot driven by shape memory alloy actuators and aluminum foil [14] with magnet actuation to drive the whole system. The initial state of SMA has some pre-deformation, and jumping motion is promoted by induction heating of SMA and aluminum foil in a high-frequency alternating magnetic field. During the heating of the SMA berth, this design converts SMA from martensite to austenite. More elastic potential energy is stored, increasing the jump height, which is not found in conventional springs. A locust-like jumping robot developed by the Northwestern Polytechnic University in China mimicking the movements of the femur, tibia, and tarsus of the locust's hind legs [15] uses a linear spring to store energy and utilizes the negative rotation of the robot's body to counteract its tendency to flip in the air phase. The aforementioned studies on miniature jumping robots have focused on the implementation and miniaturization of jumping functions but have neglected to design energy storage mechanisms with a greater energy storage density, the size of which directly affects the potential that a jumping robot can achieve.