# Jumping Locomotion Strategies: From Animals to Bioinspired Robots
## 7 Conclusions
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Aspects** & **Strategies Used in Animals** & **Strategies Used in Robots** \\ \hline \multirow{4}{*}{Take-off angle} & & (1) Changing some components (bar length, \\  & & gear ratio) manually; \\  & Orientation of hindlegs. & (2) Adjusting the position of the counterpart; \\  & & (3) Adjusting the body pitch angle using \\  & &  support bar. \\ \hline \multirow{4}{*}{Take-off direction} & & (1) Rotating the whole robot around axis; \\  & (1) Orientation of two fore legs; & (2) Discontinuous rotation the body around \\  & (2) Orientation of two hind legs. & fixed tail; \\  & & (3) Differential wheels. \\ \hline \multirow{4}{*}{Take-off velocity} & & (1) More than one end points of energy \\  & & storage component; \\ \cline{1-1}  & Stored energy inside muscle and & (2) Changing the gas ratio and flow rate of \\ \cline{1-1}  & elastic components. & \multicolumn{1}{c}{flammable gas;} \\ \cline{1-1}  & & (3) The deformation and initial shape of SMA; \\ \cline{1-1}  & & (4) External magnetic field and direction. \\ \hline \multirow{4}{*}{Take-off stability} & (1) Ensuring that contact force & (1) Balancing tail; \\ \cline{1-1}  & passes through the centroid and & (2) Zero-momentum by ensuring that contact \\ \cline{1-1}  & counter of the stomach’s & \multicolumn{1}{c}{force passes through the centroid during} \\ \cline{1-1}  & contraction; & \multicolumn{1}{c}{take-off phase.} \\ \cline{1-1}  & (2) Balancing tail. & \\ \hline \multirow{4}{*}{Aerial righting} & (1) Aerial righting by way of & \\ \cline{1-1}  & aerodynamic torque; & (1) One/two-DOF balanced tail; \\ \cline{1-1}  & (2) Aerial righting by way of & (2) Gliding wings; \\ \cline{1-1}  & inertia; & (3) Propellers. \\ \cline{1-1}  & (3) Using dragline silk. & \\ \hline \multirow{4}{*}{
\begin{tabular}{c} Landing buffer and \\ resetting mechanism \\ \end{tabular} } & (1) Compliant body structure & (1) Active resetting using support legs; \\ \cline{1-1}  & helps absorb shock; & (2) Passive resetting assisted by flexible frame; \\ \cline{1-1}  & (2) Landing softly with help of & (3) Gliding wings help landing; \\ \cline{1-1}  & tendons in legs; & (4) Elastic buffering legs help absorb impact. \\ \cline{1-1}  & (3) Resetting with help of legs. & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Controllability and strategies during jumping used in animals and robots. of research about the jumping animals and bioinspired jumping robots, the developmental trends of bioinspired jumping robots are predicted and listed as follows. **Jumping in combination with other locomotion modes:** Jumping is characterized by short-time high power output and, thus, is an energy-consuming activity. For this reason, most animals with outstanding jumping abilities always adopt other locomotion modes. Kangaroos can use their two front legs for walking; the common locomotion mode adopted by tigers and cheetahs is walking. Fast speed running and jumping are used mostly during hunting. In addition, frogs can walk and swim with their big feet and use jumping mainly for surviving reasons, both on land and in water. Insects like fleas, locusts, and froghoppers can walk with six legs and jump with their strong hind legs. Locusts can rely on flapping and gliding to achieve long-distance migration and they use jumping to initiate flapping. During landing of jumping robots, a big impact force is generated, with the risk of damaging some mechanical components. Moreover, the single jumping locomotion mode reduces the reliability and life cycle of jumping robots. Combining jumping with other locomotion modes, such as flapping, gliding, crawling, wheeling, and rolling, will increase the agility and robustness of jumping robots. **Swarm jumping robots:** Miniature jumping robots have simple structure, superior jumping performance, and low cost.