The click beetle can jump up with a hinge when it is on the dorsal side. This jumping mechanism is simple and suitable as an inspiration for designing a simple, small, and reliable hopping robot. We report a single-legged robot inspired by the jumping mechanism of click beetles. It is 85 mm high, 60 mm long, and 41 mm wide, and weighs about 49 g. The robot has good hopping performance that the hopping height is about 4 times - 4.3 times of its body height. It is capable for rescue missions that require to enter enclosed spaces through cracks and narrow channels. In addition, hopping dynamics of the robot is important to understand its jumping mechanism and improve the robot’s hopping performance. But existing dynamic study does not complete the analysis including all stages in the hopping which are pre-hopping, take-off, and air-flying. We propose the decomposition method to study dynamics of the three stages separately, and synthesize them with related parameters. The dynamic synthesis of multi-motion states in a hopping cycle of the single-legged hopping robot is implemented. The hopping performance and dynamic synthesis theory of the robot are verified by simulations and experiments. Our study helps lay the foundation for design and hopping control of simple hopping robot systems.

棘爪甲虫位于背侧时可以用铰链向上跳。这种跳跃机制很简单，很适合作为设计简单，小型和可靠的跳跃机器人的灵感。我们报告了一种由点击甲虫的跳跃机制启发的单足机器人。它高85毫米，长60毫米，宽41毫米，重约49克。该机器人具有良好的跳跃性能，跳跃高度约为其身体高度的4倍-4.3倍。它能够执行需要通过裂缝和狭窄通道进入封闭空间的救援任务。此外，机器人的跳跃动力学对于理解其跳跃机制和提高机器人的跳跃性能也很重要。但是，现有的动态研究并没有完成包括跳变的所有阶段的分析，这些阶段包括预跳变，起飞和空中飞行。我们提出了分解方法来分别研究这三个阶段的动力学，并将它们与相关参数合成。实现了单腿跳跃机器人跳跃周期内多运动状态的动态综合。通过仿真和实验验证了该机器人的跳跃性能和动态综合理论。我们的研究有助于为简单的跳跃机器人系统的设计和跳跃控制奠定基础。