133 results about "Jumping robot" patented technology

The invention provides a bionic grasshopper jumping robot, comprising body, front leg support damping device and back leg jump device. Said front leg support damping device comprises sleeve hinged on the body, one end is on the sleeve, the other end is on the brace; the brace is equipped with compression spring. Said back leg jump device comprises body brace, transition link rod, thigh, shank and treadle sheet; body brace is fixed on body, one end is connected with thigh, the other end is connected with transition link rod, the middle part of shank is connected with transition link rod, one end is connected with thigh, terminal end is connected with treadle sheet, a spring is located between the connection point of thigh and shank and connection point of body brace and transition link point; the shanks on the two sides of body are connected together through shank link rod, the body is equipped with energy storage device, energy release device, control circuit and power. The invention is characterized by accordance with grasshopper jumping feature, simple structure, high efficiency, fast and continuous jump.

The invention provides a frog-inspired biomimetic jumping robot. Forelimb and hindlimb driving mechanisms are mounted on a body mounting plate and connected with forelimb and hindlimb actuating mechanisms respectively, each of the forelimb driving mechanism and the hindlimb driving mechanism comprises an input shaft, a second gear, a one-way bearing, an incomplete gear and a ratchet pawl are mounted on each input shaft, each second gear is in gear transmission with a second output shaft, each incomplete gear is in gear transmission with a first output shaft, ropes are wound on second winding drums which are mounted at two ends of each first output shaft respectively, and output gears are mounted at two ends of each second output shaft respectively. By means of reasonable arrangement of the forelimb and hindlimb driving mechanisms and the forelimb and hindlimb actuating mechanisms, utilization rate of driving elements of the robot is increased, mechanical structures of legs are optimized, biomimetic degree of the robot is increased, jumping capability of the robot is enhanced, flexibility of mechanical mechanisms of the robot is improved, and posture stability during jumping is improved.

A jumping robot is provided. In another aspect, a jumping robot weighs less than 50 grams, jumps at least 20 cm high and has a maximum linear dimension of 10 cm. A further aspect provides a robot that employs an electromagnetic actuator that actuates at least two of: jumping, steering, self-righting, and / or mid-air orientation control.

The invention discloses a frog jump robot. A motor is used as a power element; devices such as an overrunning clutch, a gear toothed belt and the like are used as transmission mechanisms; a slide block can move on a guide rail under the drive of the motor through the transmission devices; and double legs of the robot stretch or retract under the drive of the slide block so as to finish jump motion. After the robot jumps, the double legs immediately retract to perform air posture adjustment, and the double legs are fully retracted by using self gravity potential and kinetic energy at the monument of landing to perform posture adjustment again. The energy utilization rate of the power element is improved, reclamation and reutilization of energy during jumping are realized, the flexibility of the robot is increased, and the jumping capability of the robot is promoted.

The invention discloses a robot structure which can jump by imitating the leg shape of the kangaroo. A load is arranged on the frame, a knee joint of the robot is connected with the lower side of the frame by a holding frame. The knee joint of the robot is connected with the lower leg of the robot by a leg part axis. The lower end of the lower leg is the ankle joint of the robot; the sole is connected with the lower leg by the sole axis at the ankle joint, meanwhile the ankle joint is at the one-third position of the sole. The sole and the toes are connected by a toe axis, and the toe axis is arranged at the front end of the sole. One end of the lower-arranged spring is arranged at the back end of the sole, and the other end of the lower-arranged spring is arranged at the two-fifth position of the lower leg. One end of the upper-arranged spring is arranged at the upper end of the lower leg, and the other end of the upper-arranged spring is arranged at the half position of the frame. The power mechanism is respectively connected with the lower leg and the sole by an upper earring and a lower earring. The robot structure has the advantages of improving the jump efficiency of the robot and reinforcing the jumping ability.

The invention discloses a spherical jumping robot, in particular a combined type robot capable of rolling and jumping for detection in the complex environment. On the relatively flat ground, the robot can roll freely, and when encountering an obstacle having a larger size, the robot can jump and surpass the obstacle. The robot has spherical shell and compact internal structure design and high energy utilization efficiency, can jump when in a static state or rolling state and can automatically adjust the jumping direction and the jumping angle and jump repeatedly. The robot can be used for anti-terrorism and anti-riot public safety monitoring, interstellar exploration, complex terrain exploration and other fields.

The invention discloses a jumping robot of a locust-simulated turning joint lever ejecting mechanism, comprising a front leg with the functions of driving, supporting and shock absorption and a back leg with the functions of driving and turning joint lever elastic energy storage, wherein the front leg comprises a front leg power mechanism, a front leg motor output shaft, an eccentric cam, a front leg, a front leg spring and the like; and the back leg comprises a back leg power mechanism, a back leg motor output shaft, a shaft coupling, a back leg transmission shaft, a spring, a roller wheel, a back leg, a back leg sliding rotation shaft, a fork-shaped back leg retainer, a fork-shaped back leg retainer tail rod, a spring set, a fixed pull button, a rotary pull button, a screw pair, a sliding guide sleeve, a connecting spring bolt, a steel wire rope, a connecting steel wire rope bolt and the like. With the structural design of the eccentric cam, the front leg has the function of providing engine body promoting force through the elastic energy storage; by adopting the structural design of a movable rotation shaft and a movable pivot lever, the back leg realizes the functions of slow energy storage and rapid energy release in the ejecting mechanism through the combined design of the fixed pull button and the rotary pull button.

The invention discloses a continuous hopping robot with a single leg and adjustable overhead postures. The continuous hopping robot with the single leg and the adjustable overhead postures comprises an upper body portion, a waist portion and a leg portion, wherein elastic components are supported between an upper base plate and a lower base plate of the waist portion, the upper body portion comprises a three-axis gyroscope and a detection control system, the three-axis gyroscope is installed on the upper base plate of the waist portion, the leg portion is the single leg installed on the lower base plate of the waist portion, an energy storage release device is arranged between the upper base plate and the lower base plate of the waist portion, and the detection control system comprises a motion controller, a servo driver, a wireless module, a flight posture measuring sensor and a battery set. According to the continuous hopping robot with the single leg and the adjustable overhead postures, the three-axis gyroscope is used as a stabilizing device of a system, overhead posture adjustment, balance control after landing and takeoff angle control can be achieved for the robot, and the energy storage release device is simple and reasonable in design, rapid in response and strong in controllability, can guarantee repeated continuous hopping for the robot, guarantees that initial velocity of takeoff of the robot is controllable, and achieves control on the bouncing height and the bouncing distance.

The invention discloses a jumping robot and a motion optimization method adopting inertia matching. The jumping robot consists of a matrix operation controller, an aluminum plate body, a joint drive motor and a motion control algorithm with inertia matching. The system uses the jumping robot as a research object; the jumping motion is divided into three phases of a standing phase, a soaring phase and a falling collision phase; on the basis of variable constraint dynamics, the system establishes a standing phase dynamics equation by using a space floating base, performs optimization research on jumping gesture and load matching by using the inertia matching and direction manipulability and uses five polynomial to plan jumping motions. The simulation and experiment show that when the inertia matching of the jumping robot is maximal, the reaction impulse of the ground is maximal, and the jumping performance is optimal; the jumping height and the inertia matching are in direct proportion; and when the inertia matching is maximal, the jumping gesture of the robot and the load matching are optimal. The inertia matching is an effective jumping motion optimization method.

The invention discloses a bionic locust jumping robot with buffer performance, comprising a trunk structure, a driving module, a jumping leg module and a buffer leg module, wherein a driving motor and a limit cam mechanism in the driving module can realize control on the jumping motion of the robot; the jumping leg module is composed of two jumping leg branches with the same structure and a jumping leg connecting rod, the jumping leg connecting rod is fixedly connected with the jumping leg branches at the two sides, and the jumping leg connecting rod can move in a motion guide groove in the trunk structure so as to drive the jumping leg branches at the two sides to finish the jumping action; and the buffer module comprises four buffer leg branches with the same structure and can realize landing buffer of the robot. The jumping robot disclosed by the invention has controllable jumping leg motion track and better jumping performance and has favorable buffer performance and higher energy storage capability during landing, and then the jumping robot can adapt to rugged topography and complex environment, so that the motion range of the robot is greatly extended.

The invention relates to a locust-simulating flying and jumping robot based on a metamorphic mechanism. The robot is mainly composed of a locust-simulating structure part and a mechanical transmission system part located in the locust-simulating structure part; the mechanical transmission system part comprises a bouncing system and a flapping-wing system; and the bouncing system comprises an extension spring energy storage module, a pulley reversing module, a cam adjusting meshing module, a first-level decelerating module and a leg second-level incomplete gear decelerating module. The invention further discloses a flying control method of the locust-simulating flying and jumping robot. The locust-simulating flying and jumping robot based on the metamorphic mechanism is low in energy consumption, and more stable by adoption of gear transmission, the posture stability of the robot during moving can be improved, and practicability and bio-imitability are higher; two motion modes of flying and jumping of the robot are coupled through the mechanical transmission system part and supplement each other, impact force of the robot in the landing stage is reduced, continuous jumping is achieved, and the motion position is more accurate.

The invention discloses a dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of a robot, which belongs to the technical field of jumping robots. The mechanism comprises a base (13), an upper cover plate (1), an EAP driver assembly, a central guide pillar (14), a central cylindrical cam (24), two bulged rods and two rod folding mechanisms, wherein the central cylindrical cam (24) is provided with a ratchet structure and a groove structure; the ratchet structure is matched with a pawl in the EAP driver assembly; the two bulged rods are symmetrically fixed on guide pillars (15) on corresponding sides and are matched with grooves of the central cylindrical cam (24); and the two rod folding mechanisms are hinged between the upper cover plate (1) and the base (13). In the mechanism, a dielectric EAP driver drives the central cylindrical cam to rotate unidirectionally through pawl and ratchet mechanisms, and the spiral grooves on the outer surface of the central cylindrical cam can simultaneously move downwards under the action of external force during the rotation of the central cylindrical cam, so that a six-rod mechanism is driven to deform and the center of gravity of the mechanism moves down; simultaneously, a spring is stretched to produce internal stress, so that the robot jumps; and the vertical jumping mechanism has a simple structural design and high movement reliability.

The invention relates to a water-skipper-imitation waterborne skipping robot and relates to the bio-robot technology. The water-skipper-imitation waterborne skipping robot solves the problem that an existing water-skipper-imitation waterborne skipping robot can not skip continuously on water and comprises a rack 1, four supporting legs 2, two driving legs 3, two springs 5, a speed reduction gear set 6, a micro direct current motor 7 and a control circuit. The rack 1 is composed of a base 11 and a speed reduction gear set fixing frame 12 which is fixedly connected to the upper surface of the base 11. The four supporting legs 2 are located in the same horizontal plane and adhere to the lower surface of the base 11 respectively. The two driving legs 3 are symmetrically installed on the left and the right of the speed reduction gear set fixing frame 12. The water-skipper-imitation waterborne skipping robot is used for imitating waterborne skipping of a water skipper.

The invention discloses a bionic jumping robot which comprises a robot body, a jumping mechanism and a balancing mechanism. The balancing mechanism comprises a stripped-shaped balance rack and a connecting drive mechanism which is connected between the balance rack and the robot body and drives the balance rack to swing. Being provided with the balance rack with the function of the tail, the bionic jumping robot can simulate the adjusting effect of the tail of a kangaroo to the body posture, adjust the body posture in the flight process after jumping, effectively land on the ground through foot bottom plates, buffer the landing impact, and land on the ground stably, and the accidents that the head lands on the ground are avoided.

The invention discloses a jumping robot imitating the ejection mechanism of a locust. The jumping robot comprises a machine body, a front leg connected with the front end of the machine body, and a rear leg mechanism connected with the back end of the machine body. The machine body comprises a motor, a speed reducer, a coupler, a transmission lead screw, a feed rod support seat, a lead screw nut, a transmission feed rod, a rolling bearing, fixing screws for support rods, double support rods, an extension bar of a compression block, the compression block, a rolling wheel on the lead screw nut, and two deflector rods at the upper end of the lead screw nut; and the rear leg mechanism comprises a connecting spring support, a spring group, an inverted U-shaped rear leg, a connecting rod part, a spring pressure plate, a spring in the compression block, the rolling wheel on the compression block, a first wedge-shaped block, a rolling wheel on the first wedge-shaped block, a second wedge-shaped block and a rear leg power transmission rod. A compression device can complete the function of automatic triggering through the compression block, and the spring is further arranged between the compression block and a rear plate for realizing the function of fast release. The jumping robot is used as a motion carrier of a detection instrument, and remote control of the mechanism can be realized by adding a sensor and a control circuit board.

The invention discloses a hopping robot with a posture balance adjustment mechanism. The hopping robot includes a hopping robot body and a tail balance mechanism arranged on the hopping robot body; the tail balance mechanism includes a connecting frame fixed on the hopping robot body, a tail body, and a tail control mechanism which is arranged between the connecting frame and the tail body and used for driving the tail body to swing relative to the connecting frame; the tail control mechanism includes a first bevel gear and a second bevel gear which are coaxially and oppositely arranged on theconnecting frame and are correspondingly driven by a first driving motor and a second driving motor respectively to rotate, and a third bevel gear and a fourth bevel gear which are coaxially and oppositely arranged on the tail body and are meshed between the first bevel gear and the second bevel gear. According to the hopping robot with the posture balance adjustment mechanism, it can be ensuredthat the tail balance mechanism can adjust postures during the rising phase of the robot, so that the robot comes to the ground in a proper posture.

The invention discloses a legged jump robot based on piezoelectric drive and a control method thereof. The robot comprises a flexible body formed by folding four layers of planar PVC film and four piezoelectric bimorph pins, wherein the PVC film layers are connected with bounce legs, stop pieces, shape memory alloy springs and stainless steel springs. By utilizing the vibration of the piezoelectric bimorphs under the effect of sine and cosine voltages, the robot can perform straight-line walking. By utilizing the heating construction performance of shape memory alloy, the PVC layers store andrelease strain energy to achieve folding and unfolding of the bounce legs, the robot can obliquely and upward jump and be repristinated for continuous walking, and mutual switching of motion modes isachieved. The legged jump robot integrates the advantages of quick response of piezoelectric drive, high precision and large deformation of shape memory alloy, linear and jumping motions of the robotare achieved, and the application field and motion range of the piezoelectric robot are widened.

A robot includes a chassis, a motive subsystem configured to maneuver the chassis, a hopping actuator attached to the chassis and configured to launch the robot, and at least one leg pivotable with respect to the chassis to pitch the chassis upward at a selected launch trajectory angle. A control subsystem automatically actuates and controls the motive subsystem when the robot is airborne and uses the rotational momentum of the motive subsystem to control the attitude of the robot chassis in flight.

The invention discloses a self-adaptive multifunctional landing jumping robot. Two front legs with the same structure are arranged at a transverse edge at the front end of a robot body; transmission mechanisms are arranged at two sides of the robot body; a take-off angle locking mechanism is arranged in a rectangular hole in one side of the robot body, near the rear end; and take-off legs are backwards arranged at the rear end of the robot body. The robot has a plurality of motion forms due to the adoption of two functions, i.e., wheeled moving and jumping; any landing surface can be taken off again after landing due to the adoption of a positive and negative symmetric structure, therefore, additionally providing a superfluous attitude adjusting mechanism is avoided, and the influence of overturning while landing to secondary take-off is reduced; the front legs are of two-stage vibration absorption structures, therefore, universal guide wheels of the front legs are prevented from being damaged by impact; and a guide slot cam structure is adopted so that instant unconstrained release of an energy storage member is realized, and the jumping performance of the mechanism is improved. Because of small size, light weight and good concealment, the self-adaptive multifunctional landing jumping robot can be applied to the fields such as urban anti-terrorism wars, earthquake disaster relief, environment monitoring, aerospace military and the like through additionally providing a sensor.

A wheeled jumping robot includes a body with two wheels, and a board is connected between the two wheels. A driving unit and a jumping unit are respectively connected on two sides of the board. The jumping unit has two rails, and a tubular member is located between the two rails and connected to a threaded rod. A bridge is connected between two rails. Rollers are located between a threaded portion of the threaded rod and a tapered contact face of the bridge. When the threaded rod is rotated, the rollers move toward a pre-set position, the bridge compresses resilient members on the two rails. When the tubular member moves toward the pre-set position, the rollers are separated from the threaded rod due to the tapered contact face, the resilient members bounce back. The wheeled jumping robot includes a processing unit for being communicated with a remote control unit.

The invention provides an active and passive energy storage combined driver which has broad application. For example, the active and passive energy storage combined driver can be used for jumping robots, wheeled mobile robots and the like. The active and passive energy storage combined driver comprises a motor mounting frame, a servo motor is fixedly mounted on the motor mounting frame, a ball screw rod is connected with an output shaft of the servo motor, a ball nut matched with the ball screw, and flange move along a guiding device, and an energy storage spring is fixed below the ball nut, the energy storage spring is mounted on the ball screw rod in a sleeved mode, a chassis is fixed to the lower end of the spring, and a clutch is further arranged between the lower end of the ball screw rod and the upper end of the chassis. The active and passive energy storage mechanism combined driver can effectively improve the utilization rate of energy.

The invention relates to a single-motor driven climbing jumping robot which comprises a frame, a power module, a sensing device, a control device, a driving mechanism, a jumping mechanism and a climbing mechanism; the frame is used for installing other mechanisms and devices; a power unit provides energy for the driving mechanism and the control device; the sensing device is used for sensing the posture of the robot, whether an obstacle exists ahead or not and the positions of the rotating angles of driving rods; the control device completes the control over the robot, the remote transmission of data, and the collection and the storage of the data of a sensor; the driving mechanism drives the robot to complete the climbing and jumping motion through the forward and reverse rotation of a motor; the jumping mechanism is provided with a cylindrical cam which has a quick-return characteristic and can realize the slow energy storage and the quick energy release of jumping motion so as to realize jumping motion; and the climbing mechanism is provided with disc cams which are matched with the two crossed driving rods, and can drive the swinging of four legs by one motor, thus realizing the climbing motion.

The invention provides a modular driving device of elastic joints of a hopping robot. The device comprises a joint shaft bracket, a joint shaft, a joint shaft fixing pin, a joint torsion spring, a joint bearing, a joint bearing support, a motor mounting rack, a motor, an electromagnetic clutch, an electromagnetic clutch mounting rack, a worm small support bearing, a worm-wheel shaft, a worm gear support large bearing, a worm gear support large bearing end cover, a worm shaft, a worm support large bearing, a worm gear mounting rack, a worm gear support small bearing, a synchronous toothed belt, a synchronous pulley, an electromagnetic clutch bracket, a tension wheel mounting rack, a tension wheel, a worm support large bearing end cover, a worm fixing pin and a worm. The modular driving device is suitable for driving the joints of the hopping robot, and has the characteristics of low power demand for the motor, and high hopping performance; and the motor performance is played fully.

The invention discloses a locust hopping simulating robot with a gliding function, and relates to the technical field of robots. The locust hopping simulating robot comprises a trunk structure, a cushion leg structure, a gliding wing structure, a hopping leg structure and a driving module. The cushion leg structure comprises four cushion leg branches, and landing cushion of the locust hopping simulating robot can be implemented by the aid of the cushion leg structure. A gliding wing comprises two cushion leg branches and a spring and can be driven by deformation of the spring to be contractedand released, so that the locust hopping simulating robot can glide. The hopping leg structures comprises two hopping leg branches, the hopping leg branches comprise six-bar mechanisms, and the locusthopping simulating robot can efficiently hop by the aid of the hopping leg structure. The driving module comprises a gliding wing driving module and a hopping leg module, cams can be driven by motorsto compress springs to deform, and accordingly energy can be stored and can be instantly released. The locust hopping simulating robot has the advantages that the cushion leg structure, the gliding wing structure and the hopping leg structure are combined with one another, accordingly, the obstacle crossing ability and the hopping performance of the locust hopping simulating robot which is a hopping robot can be improved, and the locust hopping simulating robot can be stably landed.

The invention relates to a jumping robot based on the tripping energy-storing-releasing mechanism. The jumping robot comprises a horizontal supporting plate. A bouncing leg is arranged in the center of the supporting plate. The upper portion of a pedal foot of the bouncing leg is connected with a spring guiding column and a tripping rod. A power spring is arranged outside the spring guiding column in a sleeved mode. The lower end of the power spring presses the pedal foot, and the upper end of the power spring abuts against the supporting plate. A tripping contact is arranged at the upper end of the tripping rod. A horizontal hook is arranged at the upper end of the spring guiding column. A stand plate is arranged above the supporting plate. The stand plate is hinged to a cam, an L-shaped connecting rod, a tilting rod and a tripping piece. The upper end of the pedal foot is hinged to two connecting rods. The upper ends of the two connecting rods are connected with the end of a parallelogram connecting rod mechanism through a rotating pair. The parallelogram connecting rod mechanism is fixedly connected with a horizontal rack which is meshed with a gear to form a gear-rack transmission mechanism. The upper ends of the two connecting rods are connected with a vertical pushing rod through a rotating pair. The pushing rod is connected with the supporting plate. The upper end of the pushing rod is hinged to the connecting rod which is hinged to a dead point pushing rod. The dead point pushing rod is arranged in a vertical dead point pushing rod guiding sleeve in a hollow-sleeve mode.

The invention relates to the field of double-foot travelling robots, in particular to a full-form simulated ostrich high-speed running-jumping robot. The overall structure is composed of a first wing assembly, a second wing assembly, a first leg assembly, a second leg assembly, a neck assembly, a trunk assembly and a tail assembly. The structure of the full-form simulated ostrich high-speed running-jumping robot is simple, has a complete biological trunk integral structure, and through the sensing design of the two-degree-of-freedom head, the stable equilibrium steering design of the two-degree-of-freedom tail and wings and the three-degree-of-freedom design of the limbs, the high-speed running-jumping movement of the all-form simulated ostrich robot can be realized.

The invention discloses a jumping mechanism with an adjustable jump-up angle for a wheeled hopping robot, and belongs to the technical field of robots. The jumping mechanism internally comprises two cylinder fixed frames; fixed frame outer side plates are fixedly connected with fixed frame inner side plates by fixed frame plain shafts, double-acting cylinders are fixedly fastened among the fixed frame inner side plates and the fixed frame outer side plates by locks, and cylinder foot pads are mounted on lower portions of cylinder piston rods; movable frame inner side plates and movable frame outer side plates are fixedly connected with one another by movable frame plain shafts to form movable frames; and a corresponding control motor runs, so that the movable frames can drive miniature lead screws to rotate, and distances among light wheels connected with the movable frames can be adjusted. The jumping mechanism has the advantages that miniature actuators, actuator cranks, transmission rods and the double-acting cylinders form double-rocker mechanisms, the jump-up angle of the mechanism can be adjusted by the cylinders under the control of the actuators, and the cylinders are matched with decompressed high-pressure air, so that efficient jumping effects of the cylinders under the control of electromagnetic valves are realized.

The invention provides an intelligent driving composite material which can deform under external stimulation of electric driving, optical driving and thermal driving, and can automatically recover anoriginal shape after the external stimulation is removed. The invention further provides a preparation method of the intelligent driving composite material. The preparation method comprises three steps of preparation of nano-tube thin film, preparation of polymer liquid and preparation of a composite material. The invention further provides application of the satisfactory material. The intelligentdriving composite material can be applied to a hopping robot, an intelligent curtain, a thermal control louver, bionic flowers and a temperature sensor. The intelligent driving composite material provided by the invention has the advantages that different stimulation sources such as sunlight, simulated sunlight, electricity and heat can be sensed, the application range is wide, bionic functions of skipping and the like can be realized, and the intelligent driving composite material has a good application prospect.

The invention discloses a collembolan-imitated jumping robot with crawling capacity. The collembolan-imitated jumping robot comprises a robot body, a jumping mechanism, an auxiliary jumping mechanismand crawling mechanisms. The jumping mechanism comprises a jumping rotating shaft, a basic handle and a springboard, one end of the basic handle fixedly sleeves the jumping rotating shaft, the other end of the basic handle is rotationally connected with the springboard through a connecting pin, and a torsional spring sleeves the connecting pin. The auxiliary jumping mechanism comprises a stoppingrod, the stopping rod is mounted in the middle of the robot body, and before the collembolan-imitated jumping robot jumps, the other end of the springboard leans against the upper portion of the stopping rod. The crawling mechanisms are arranged on the two sides of the robot body and used for achieving a crawling function. According to the collembolan-imitated jumping robot, by means of bionics design of a specific jumping organ of collembolan, the novel jumping mechanism is arranged to achieve the efficient bouncing function of the robot, and the energy utilization rate of the jumping mechanism can be increased through the auxiliary jumping mechanism; by means of the design that the jumping mechanism is separated from the crawling mechanisms, the overall structure is simplified, driving becomes simple, and the collembolan-imitated jumping robot is suitable for detecting a complex terrain environment.