anatomy of the arm of the vampire bat plays a key role in the design of the leg of the robot. In order to minimize the number of Degrees of Freedom (DoFs), the two components of the arm are mirrored over the xz plane. This then creates the four-bar design of the leg structure of the robot which results in only two independent DoFs. Modeling of a multi-modal jumping and flying robot after the Schistocerca gregaria (desert locust) The robot designed was powered by a single DC motor which integrated the performances of jumping and flapping. It was designed as an incorporation of the inverted slider-crank mechanism for the construction of the legs, a dog-clutch system to serve as the mechanism for winching, and a rack-pinion mechanism used for the flapping-wing system. This design incorporated a very efficient energy storage and release mechanism and an integrated wing flapping mechanism. A robot with features similar to the locust was developed. The primary feature of the robot's design was a gear system powered by a single motor which allowed the robot to perform its jumping and flapping motions. Just like the motion of the locust, the motion of the robot is initiated by the flexing of the legs to the position of maximum energy storage after which the energy is released immediately to generate the force necessary to attain flight. The robot was tested for performance and the results demonstrated that the robot was able to jump to an approximate height of 0.9m while weighing 23g and flapping its wings at a frequency of about 19 Hz. The robot tested without flapping wings performed less impressively, showing about 30% decrease in jumping performance as compared to the robot with the wings. These results are quite impressive as it is expected that the reverse be the case since the weight of the wings should have impacted the jumping. Approaches Product optimization Motion planning Motion capture may be performed on humans, insects and other organisms. Machine learning, typically with reinforcement learning. Notable researchers in the field Rodney Brooks Marc Raibert Jessica Hodgins Red Whittaker Shuuji Kajita, who introduced preview control to realize the anticipatory nature of walking in humanoid robots of the Humanoid Robotics Project. See also Microswimmer References External links Robot Locomotion Robot control