The paper presents the current state of a mobile inertia-driven robot development for Venusian surface exploration. A review of the robot operation conditions is carried out. The general principles of the rover body and its inner mass motion are described. The results of the rover’s body vertical jumping motion simulation in MATLAB Simulink Simscape Multibody software are presented. They are confirming the operability of the dynamic design. A prototype of inertial-driven rover jumping mechanism to be used for subsequent testing of the design is described.