Animals that pounce, hop, leap and fly all have to carefully manage the transition from ground to air. Making jumps powerful is important, but it's often more critical to make them accurate. We have developed some simple but useful mathematical models that explain how accurate, stable jumps can be achieved by legged animals. The same rules can also be used to design jumping robots that are both agile and precise.
More information on this can be found in this paper:
...and this PhD thesis: