muscles are needed when transitioning from jumping to gliding. A detailed study of the morphology of the shoulder of the bat shows that the bones of the arm are slightly sturdier and the ulna and the radius have been fused so as to accommodate heavy reaction forces from the ground Schistocerca gregaria (desert locust) The desert locust is known for its ability to jump and fly over long distances as well as crawl on land. A detailed study of the anatomy of this organism provides some detail about the mechanisms for locomotion. The hind legs of the locust are developed for jumping. They possess a semi-lunar process which consists of the large extensor tibiae muscle, small flexor tibiae muscle, and banana-shaped thickened cuticle. When the tibiae muscle flexes, the mechanical advantage of the muscles and the vertical thrust component of the leg extension are increased. These desert locusts utilize a catapult mechanism wherein the energy is first stored in the hind legs and then released to extend the legs. In order for a perfect jump to occur, the locust must push its legs on the ground with a strong enough force so as to initiate a fast takeoff. The force must be adequate enough in order to attain a quick takeoff and decent jump height. The force must also be generated quickly. In order to effectively transition from the jumping mode to the flying mode, the insect must adjust the time during the wing opening to maximize the distance and height of the jump. When it is at the zenith of its jump, the flight mode becomes actuated. Multi-modal robot locomotion based on bio-inspiration Modeling of a multi-modal walking and gliding robot after Pteromyini (flying squirrels) Following the discovery of the requisite model to mimic, researchers sought to design a legged robot that was capable of achieving effective motion in aerial and terrestrial environments by the use of a flexible membrane. Thus, to achieve this goal, the following design considerations had to be taken into account: 1. The shape and area of the membrane had to be consciously selected so that the intended aerodynamic capabilities of this membrane could be achieved. Additionally, the design of the membrane would affect the design of the legs since the membrane is attached to the legs. 2. The membrane had to be flexible enough to allow for unrestricted movement of the legs during gliding