Analysis and Simulation Verification of Locust Jump-Flying Motion

Locusts exhibit stable jump-flying locomotion with remarkable environmental adaptability. However, prior designs failed to integrate jumping and flying modes effectively due to insufficient kinematic model inspired by the locust, leading to motion instability. In this study, we utilized the Kinovea and MATLAB software to calibrate and analyze the jump-flying data of locusts, revealing that its linear velocity profile exhibits three distinct linear phases. Before flapping their wings, locusts experience a rapid increase in jumping linear velocity. In the ascending stage after flapping their wings, the resistance increases, and the linear velocity decreases slowly. Due to the jumping speed being much greater than the speed required for level flight, the linear velocity further decreases. Subsequently, we conducted simulations grounded in locust motion data. The results demonstrate that the robot's linear velocity profile similarly manifests three distinct linear phases, establishing direct kinematic similarity to locust locomotion. This discovery will enable locust-inspired robots to more accurately replicate biological prototypes, achieving stable and long-time jump-flying locomotion.