Locusts are a kind of agile insects that can move and maneuver so efficiently in the unstructured terrain and complex environment. This marvel survivability of locusts benefits from their flying-jumping multi-modal locomotion. But until recently, the main influences of the locomotion performance are still a controversial and unknown issue. In this paper, the idea of hybrid inspired method that combines biologically inspired robot with robot inspired biology was proposed to explore the principle of flying-jumping locomotion of locusts. Firstly, we analyzed the influence of leg burrs and flapping wings on the jumping performance by the biological experiments. Nevertheless, individual heterogeneity and uncontrollability of locusts result in the unconvincing results of biological experiments. Therefore, according to the thought of robotics-inspired biology, we proposed and built a locust-inspired robot with flying-jumping locomotion via the principle of metamorphic mechanism based on the biological-inspired robot. Lastly, the preliminary robotic experiments were carried out to validate our thought that the flapping wings and leg burrs of locust have a great influence on the jumping performance. This robotics-inspired biology method remedied the shortcomings of biological experiments through the consistency and controllability of the robot experiments. Meanwhile, through the hybrid inspired research, the results show both the leg burrs and flapping wings can help the locust jump longer and improve the stability by adjusting the landing attitude to some extent, while the biological experiments dedicate that the locust with leg burrs and wings have the self-stability ability.

中文翻译：

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机器人对口的蝗虫飞跃运动的混合启发研究。

蝗虫是一种敏捷昆虫，可以在非结构化地形和复杂环境中高效移动和操纵。蝗虫的这种惊人的生存能力得益于其飞跃式多模式运动。但是直到最近，运动性能的主要影响仍然是一个有争议的未知问题。在本文中，提出了将生物启发的机器人与机器人启发的生物学相结合的混合启发方法的思想，以探索蝗虫飞跃运动的原理。首先，我们通过生物学实验分析了腿毛刺和拍打翅膀对跳跃性能的影响。然而，蝗虫的个体异质性和不可控制性导致生物学实验的结果令人信服。因此，根据机器人启发式生物学的思想，基于生物启发式机器人的变质机理原理，提出并构建了具有飞跃运动的蝗虫启发式机器人。最后，进行了初步的机器人实验，以验证我们的思想，即蝗虫的拍打翅膀和腿毛对跳跃性能的影响很大。这种受机器人启发的生物学方法通过机器人实验的一致性和可控性弥补了生物学实验的不足。同时，通过混合启发研究，结果表明，腿毛和拍打翅膀都可以通过一定程度地调整着陆姿态来帮助蝗虫跳得更长，并提高稳定性，