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However, realizing beneficial traits such as high\u2010speed motion, high load capacity, an internal driving source, and environmental suitability in one small robot is still challenging. Inspired by kangaroo hopping, a small robot is designed with a two\u2010mass soft structure and driven by electromagnetic force. With the synergistic effect of the hopping motion, the soft robot displays two unique properties: 1) the loaded speed is larger than the unloaded one (0\u201310 times its body weight) and 2) by changing the driving frequency, the moving direction of the robot, i.e., forward or backward, can be controlled. In addition, the robot displays multiple leading properties, including a high\u2010motion speed (\u224821.5 body\u2009lengths\u2009s<jats:sup>\u22121<\/jats:sup>) and large load capacity (\u224832.5 times its body weight), compared to other robots on the same scale. Furthermore, the robot displays exceptional adaptive capabilities under different circumstances: it traverses slopes, rough and soft surfaces, and even maneuvers underwater. The design strategy and dynamic model adopted in this research provide a reference for future designs and lay a solid foundation for the practical application of high\u2010performing small robots.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100129","type":"journal-article","created":{"date-parts":[[2021,9,15]],"date-time":"2021-09-15T01:30:05Z","timestamp":1631669405000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Small\u2010Scale Soft Robot with High Speed and Load Capacity Inspired by Kangaroo Hopping"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8542-9874","authenticated-orcid":false,"given":"Qi","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Rail Transit Changzhou University  Changzhou 213164 China"},{"name":"Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou University  Changzhou 213164 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaolong","family":"Lu","sequence":"additional","affiliation":[{"name":"Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou University  Changzhou 213164 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ningyi","family":"Yuan","sequence":"additional","affiliation":[{"name":"Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou University  Changzhou 213164 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianning","family":"Ding","sequence":"additional","affiliation":[{"name":"Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou University  Changzhou 213164 China"},{"name":"Institute of Intelligent Flexible Mechatronics Jiangsu University  Zhenjiang 212013 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,9,14]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793355"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax1594"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar2629"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-053018-023814"},{"key":"e_1_2_8_6_1","doi-asserted-by":"crossref","unstructured":"K.Jayaram J.Shum S.Castellanos E. 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