Based on a research proposal from Cambridge University that knowing the anatomical structure of the insects wouldhelp make an excellent biomimetic robot, we studied the anatomical characteristics of insects for application to jumpingrobots. We choose crickets, grasshoppers, and mole crickets among the Orthoptera. The external and muscle microstructuresof the three insects were compared using a stereomicroscope, an optical microscope and an electron microscope. Musclefiber bundles of the third legs of the grasshoppers and crickets were very dense, although their mitochondria numberswere smaller than their first leg. Muscle fibers of the first legs of the mole crickets are more loosely arranged than grasshoppersand crickets’ first legs, and there is a large number of different sized mitochondria, although the distinction between musclebundles is not clear.