[Frank Herrmann] had an interesting idea to turn a geared DC motor into a servo motor ... provide all that is needed to read the encoder, control the motor rotation and listen on the ‘stepper ...

How can a few grams of battery, geared motor, and some nifty materials get a jumping robot over 30 meters into the air? It wasn’t by copying a grasshopper, kangaroo, or an easily scared kitty.