A jumping/perching robot with arm/claw capable of grasping and perching in unstructured environment is proposed. Based on the folding buffering and springback locking principles

an underactuated arm/claw inspired by the raptor peregrine is designed

which can passively transform the instantaneous collision energy into powerful grasping force

and realize controllable high-speed collision and reliable perching between the robot and perching target. The dynamic models of the robot's three-dimensional jumping and aerial grasping are established

and the analytical solutions of drive torques of the leg motor and inertia tail motors are derived

so that the controllable continuous jump and real-time three-dimensional attitude control of the robot are realized. Based on the dynamic models above

the continuous jump simulation and aerial grasping simulation are carried out

in which the robot's center of mass can accurately reach all the three-dimensional target positions. The simulation results show that the robot is expected to obtain the grasping/hanging

aerial perching/observation abilities through three-dimensional jumping

which verifies feasibility of the under-actuated arm/claw design and continuous jumping/aerial grasping dynamic models proposed in this paper.