{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,2]],"date-time":"2026-09-02T15:21:13Z","timestamp":1788362473948,"version":"build-2803163510"},"reference-count":36,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2026,9,2]],"date-time":"2026-09-02T00:00:00Z","timestamp":1788307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52305321"],"award-info":[{"award-number":["52305321"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52405317"],"award-info":[{"award-number":["52405317"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"award":["52305321"],"award-info":[{"award-number":["52305321"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"award":["52405317"],"award-info":[{"award-number":["52405317"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20230496"],"award-info":[{"award-number":["BK20230496"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20241407"],"award-info":[{"award-number":["BK20241407"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Laboratory of Aircraft Configuration Design","award":["ZZKY-202507"],"award-info":[{"award-number":["ZZKY-202507"]}]},{"name":"Jiangsu Key Laboratory of Advanced Robotics Technology","award":["KJS2449"],"award-info":[{"award-number":["KJS2449"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>The legs of flying insects play a critical role in enabling seamless transitions between aerial and terrestrial environments. These appendages serve multiple functions, including landing, walking, jumping, and transitioning from jumping to flight (takeoff). Such capabilities have inspired engineers to seek similar multimodal mechanisms in Flapping-Wing Aerial Robots (FWARs) to expand their operational versatility across diverse environments. However, designing multimodal mechanisms with distinct kinematic and propulsive characteristics remains challenging, particularly in the domain of autonomous jump takeoff for FWARs, where research remains relatively sparse. In this study, inspired by the jumping takeoff strategy and hindleg kinematics of the Asian migratory locust (Locusta migratoria), we propose a functional bio-inspired jumping takeoff mechanism that extracts selected mechanical principles of the locust jumping system, including elastic energy accumulation, temporary mechanical locking, and rapid energy release. The mechanism employs a gear\u2013crank\u2013slider transmission system and utilizes one-way bearings to regulate the locking and disengaging states, enabling the storage and rapid release of energy for jump takeoff, thereby achieving autonomous takeoff of the robot. Adams dynamic simulations show that at a torsion spring angle of 40\u00b0, the mechanism achieves a maximum resultant velocity of 1.955 m\/s, a jump height of 168.2 mm, and a horizontal displacement upon landing of 134.6 mm. Ansys Fluent (2024 R2) simulations under multiple operating conditions further confirm that the aerodynamic performance is optimal at a takeoff angle of attack(\u03b1) of 5\u00b0 with a torsion spring angle(\u03b2) of 40\u00b0, yielding a lift-to-drag ratio of 3.005. This work presents a functional bio-inspired jumping takeoff mechanism based on selected mechanical principles of locust jumping, providing a potential approach for improving the autonomous takeoff capability of small-scale FWARs.<\/jats:p>","DOI":"10.3390\/biomimetics11090627","type":"journal-article","created":{"date-parts":[[2026,9,2]],"date-time":"2026-09-02T14:35:29Z","timestamp":1788359729000},"page":"627","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Design and Simulation Study of a Jumping Takeoff Mechanism Inspired by the Hindleg Kinematics of Asian Migratory Locust, Locusta migratoria"],"prefix":"10.3390","volume":"11","author":[{"given":"Yuhang","family":"Wang","sequence":"first","affiliation":[{"name":"Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"given":"Yaohui","family":"Wang","sequence":"additional","affiliation":[{"name":"Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"given":"Wenshan","family":"Wang","sequence":"additional","affiliation":[{"name":"Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0549-6087","authenticated-orcid":false,"given":"Huan","family":"Shen","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"},{"name":"Experimental Zoology Group, Wageningen University, 6708 PB Wageningen, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"validation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]},{"given":"Eize J.","family":"Stamhuis","sequence":"additional","affiliation":[{"name":"Faculty of Science and Engineering, University of Groningen, 9747 AG Groningen, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"supervision","vocabulary":"credit"}]},{"given":"Lining","family":"Sun","sequence":"additional","affiliation":[{"name":"Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"supervision","vocabulary":"credit"}]},{"given":"Qian","family":"Wang","sequence":"additional","affiliation":[{"name":"Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"resources","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3894-5061","authenticated-orcid":false,"given":"Chao","family":"Liu","sequence":"additional","affiliation":[{"name":"Robotics and Microsystems Center, College of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mo, X., Ge, W., Miraglia, M., Inglese, F., Zhao, D., Stefanini, C., and Romano, D. 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