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. 2023 Mar 17;14:1473. doi: 10.1038/s41467-023-37119-2

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — a Jumping sequence of the vertical jumping robot (Robot A). Scale bar, 10 cm. b Composite image of robot A jumping on the water surface. The robot jumps at 545 mm on the water’s surface. Scale bar, 10 cm. c The change of drag, surface tension, and buoyancy force while robot A takes off on the water. Only the vertical force components are considered. d The vertical velocity of robot A, robot B, and robot C during the jump. Solid lines indicate the center of the body (C.B.), and dash lines indicate the velocity of the center of mass (C.M.) estimated from the oscillation curves of the center of body. e Images of a vertical jumping robot with semi-cylinder drag pads (Robot A), a robot with punched rectangular drag pads (Robot B), and a robot with wire-type feet (Robot C). Scale bar, 10 cm. f The momentum ratio of robot A, robot B, and robot C obtained from the water.