# Design and Experimentation of Tensegrity Jumping Robots
## 1 Introduction  
In recent years, the rapid development of science and technology has ushered in an unprecedented boom in robotics in a variety of fields [1; 2; 3; 4; 5]. Robots, as intelligent devices capable of simulating and replacing humans in performing diverse tasks, have been widely used in manufacturing, healthcare, military defense, and many other fields [6; 7; 8; 9; 10]. Most traditional mobile robots rely on wheels or leg structures for mobility but in some specific conditions, these mobility methods are out of reach [11; 12; 13]. In complex in conditions such as irregular terrain, steep mountains, or disaster sites, the mobility of conventional robots is greatly limited due to rugged terrain and obstacles all over the place [14; 15; 16]. Among them, jumping robots attracted many researchers due to their excellent mobility and adaptability [17]. Jumping robots excel in complex environments due to their unique locomotion. They are widely used in fields like space exploration, disaster rescue, and military applications, which makes jumping robots an important development direction for future robotics technology with a broad application outlook [18; 19; 20]. Jumping robots, a special type in the field of robotics, are endowed with high maneuverability and obstacle-crossing capabilities due to aerial jumping ability. [PERSON] and [PERSON] of Shanghai Jiao Tong University have recently developed a small lunar surface jumping robot to study robotic jumps in lunar surface situations [21]. [PERSON], [PERSON], and others at Beihang University have recently developed a millimeter-sized jumping micro-robot to study the crawling and jumping of the robot [22; 23]. However, research in this area has been facing two major challenges. First, after completing a jump, jumping robots often need to make tedious and complex postural adjustments to prepare for the next jump, which greatly limits their ability to operate continuously [24]. Next, jumpingrobots are relatively inefficient in their energy utilization, which not only affects their working hours but also limits their wide application in several fields [25]. To overcome these challenges, we have innovatively introduced tensegirity into the design of jumping robots. This structure was introduced to improve the stability of the jumps, to reduce the complexity of the operations required for position adjustment, and to improve the efficiency of energy utilization. Tensegrity is a kind of building structure theory proposed by the American architectet [PERSON]. This kind of structure mainly consists of pre-stressed tension cables and gussets. Through reasonable arrangement, the whole structure reaches a state of equilibrium under the action of external forces [26]. This structural system provides excellent flexibility and deformation capacity through precise tension design. It can also maintain the stability of the monolithic structure. Due to its unique mechanical properties and excellent adaptability, tensegrity is widely used in many fields such as construction, aerospace, and so on [27]. Traditional robotic motion is limited by rigid connections, which can constrain performance in specific environments [28]. The tensegrity drives the robot with a flexible tensile mechanism, adapting more freely to complex terrain. Compared to traditional designs, tensegrity breaks new ground for jumping robots by increasing mobility and energy efficiency compared to traditional designs [29; 30]. In addition, adjusting the tensile force makes it easy to change the robot's shape and attitude for more flexible and efficient movement, demonstrating excellent stability and adaptability. The tensegrity has significant advantages of solid support and excellent elasticity [31]. When jumping robots move, they can effectively absorb and disperse the ground reaction force to protect the robot from damage. They can also achieve a smooth transition when landing to reduce impact and noise and optimize performance [32; 33].