Building a Jumping Robot Part 2

Last year I designed a spring powered jump mechanism and now I am back with a whole jumping robot. Its main part is servo powered spring compression mechanism which uses herringbone gearbox to increase the torque needed to fully compress two ASG springs. After testing the mechanism I added two motors, flexible wheels printed from PETG and an Arduino RC control circuit which gives it the ability to move like a normal robot and jump when it needs to. To power the whole robot I used a small 2S drone battery and I wouldn’t recommend using lower voltages because the servo might not be able to fully compress the springs. Overall this robot was a lot of fun to work on because I always wanted to have one of those Jumping Sumo mini drones and since I never got one, I built it myself. However it is still far from perfect and there is a lot of space for improvements. For example it would be better to print wheels from elastic filament like TPU, it should be at least 50g lighter (It weighs around 340g),the mai