and walking. However, the amount of flexibility had to be controlled due to the fact that excessive flexibility could lead to a significant loss of energy caused by the oscillations at regions of the membrane where strong pressure occur. 3. The leg of the robot had to be designed to allow for appropriate torques for walking as well as gliding. In order to incorporate these factors, close attention had to be paid to the characteristics of the flying squirrel. The aerodynamic features of the robot were modeled using dynamic modeling and simulation. By imitating the thick muscle bundles of the membrane of the flying squirrel, the designers were able to minimize the fluctuations and oscillations on the membrane edges of the robot, thus reducing needless energy loss. Furthermore, the amount of drag on the wing of the robot was reduced by the use of retractable wingtips thereby allowing for improved gliding abilities. Moreover, the leg of the robot was designed to incorporate sufficient torque after mimicking the anatomy of Pteryomini's leg using virtual work analysis. Following the design of the leg and membrane of the robot, its average gliding ratio (GR) was determined to be 1.88. The robot functioned effectively, walking in several gait patterns and crawling with its high DoF legs. The robot was also able to land safely. These performances demonstrated the gliding and walking capabilities of the robot and its multi-modal locomotion Modeling of a multi-modal jumping and gliding robot after the Desmodus Rotundus (vampire bat) The design of the robot called Multi-Mo Bat involved the establishment of four primary phases of operation: energy storage phase, jumping phase, coasting phase, and gliding phase. The energy storing phase essentially involves the reservation of energy for the jumping energy. This energy is stored in the main power springs. This process additionally creates a torque around the joint of the shoulders which in turn configures the legs for jumping. Once the stored energy is released, the jump phase can be initiated. When the jump phase is initiated and the robot takes off from the ground, it transitions to the coast phase which occurs until the acme is reached and it begins to descend. As the robot descends, drag helps to reduce the speed at which it descends as the wing is reconfigured due to increased drag on the bottom of the airfoils. At this stage, the robot glides down. The