

\section{The mechanical design of the jumper prototype: detailed figures}

\begin{figure}[h]
    \centering
    \includegraphics[width=0.9\linewidth]{pics/Motor_and_reduction.png}
    \caption{The motor and the reduction gearbox.}
    \label{ver.0_motor}
\end{figure}

\begin{figure}[h]
    \centering
    \includegraphics[width=0.8\linewidth]{pics/Spring_and_converter.png}
    \caption{The spring casing (spring not shown) and the converter gearbox transmitting torque and rotation between the spring and the CVT gearset.}
    \label{ver.0_spring}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.99\linewidth]{pics/CVT_and_leg.png}
    \caption{The CVT gearset and the rack-and-pinion mechanism. Rack is fixed on the leg.}
    \label{ver.0_CVT_leg}
\end{figure}


\begin{figure}
    \centering
    \includegraphics[width=0.75\linewidth]{pics/Ver0_encoders.png}
    \caption{The mounting positions for the magnetic encoders. They are used to measure the rotation angle and velocity of the motor and the pinion.}
    \label{ver.0_encoders}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.75\linewidth]{pics/Jumper_ver1_real.png}
    \caption{The Ver.1 jumper undergoing a force testing using a load cell. A simple printer ruler is being used for to measure the distance.}
    \label{ver.1_real}
\end{figure}


\begin{figure}
    \centering
    \includegraphics[width=0.95\linewidth]{pics/Jumper_structure.jpg}
    \caption{The Ver.2 of the jumper prototype}
    \label{ver.2_real}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.5\linewidth]{pics/Ver3_encoders.png}
    \caption{The positions of the encoder boards. The magnets (not shown) are connected to the shafts of motor and pinion.}
    \label{ver3_encoders} 
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.99\linewidth]{pics/Reduct_gearbox_real.png}
    \caption{The manufactured reduction gearbox-motor module. The picture on the left is the gearbox module with the motor drive board and the right one is the module by itself.}
    \label{gearbox_motor_real}
\end{figure}


\begin{figure}
    \centering
    \includegraphics[width=0.99\linewidth]{pics/Platform_overall.png}
    \caption{The experiment platform has an overall structure shown in the figure.}
    \label{ex_plat_jump}
\end{figure}

\FloatBarrier


\section{Full Robot Simulation additional figures}\label{full_sim_supp_figures}

\begin{figure}[h]
    \centering
    \includegraphics[width=0.8\linewidth]{pics/Full_comparison_3_2.png}
    \caption{The ground reaction forces, jump heights, leg motor and balancer motor power outputs are compared in this figure between Robot-A and Robot-B. Note that Robot-A is with C-SEA and RW and Robot-B is with SEA and RW.}
    \label{study3.2}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.8\linewidth]{pics/Full_comparison_3_3.png}
    \caption{The ground reaction forces, jump heights, leg motor and balancer motor power outputs are compared in this figure between Robot-A and Robot-B. Note that Robot-A is with C-SEA and RW and Robot-B is with SEA and AeroTail.}
    \label{study3.3}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.8\linewidth]{pics/Full_comparison_3_4.png}
    \caption{The ground reaction forces, jump heights, leg motor and balancer motor power outputs are compared in this figure between Robot-A and Robot-B. Note that Robot-A is with C-SEA and AeroTail and Robot-B is with SEA and AeroTail.}
    \label{study3.4}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.8\linewidth]{pics/Full_comparison_3_5.png}
    \caption{The ground reaction forces, jump heights, leg motor and balancer motor power outputs are compared in this figure between Robot-A and Robot-B. Note that Robot-A is with C-SEA and AeroTail and Robot-B is with C-SEA and RW.}
    \label{study3.5}
\end{figure}

\begin{figure}
    \centering
    \includegraphics[width=0.8\linewidth]{pics/Full_comparison_3_6.png}
    \caption{The ground reaction forces, jump heights, leg motor and balancer motor power outputs are compared in this figure between Robot-A and Robot-B. Note that Robot-A is with SEA and AeroTail and Robot-B is with SEA and RW.}
    \label{study3.6}
\end{figure}

