  In order to solve the problem of stable jumping of micro robot, we design a
special mechanism: elastic passive joint (EPJ). EPJ can assist in achieving
smooth jumping through the opening-closing process when the robot jumps. First,
we introduce the composition and operation principle of EPJ, and perform a
dynamic modeling of the robot's jumping process. Then, in order to verify the
effectiveness of EPJ in controlling the robot's smooth jump, we design a
simulation experiment based on MATLAB. Through comparative experiments, it was
proved that EPJ can greatly adjust the angular velocity of the robot and
increase the jump distance of the robot. Finally, we analyze each parameter in
EPJ and performs parameter optimization. After optimization, EPJ achieves a
completely flip-free jump of the robot, laying an important foundation for
improving the mobility of micro-robot.
