After the robot jumps to a high position, it must land safely back
onto the ground. To prevent any damage from occurring, a balance
bar is installed on the back of the robot. A released spring force is
used to move the bar back to its original position after the robot
hits the ground. The wheels are designed to reduce the impact of the ground when the robot jumps. This results in a set of springs
resembling umbrella ribs, as shown in Fig. 3.