When jumping forward to forward fold from downward facing dog, bend your knees and load them up, then gently hop up, using your ab strength, and look between your hands.
Jump your feet directly in between your hands, softly, with bend knees, feet paralell.o
To jump back from forward fold into chattaranga, place both hands flat on the mat, bend your knees, and swiftly jump back into a plank position, but with bent elbows.
Then slowly lower down through chattaranga. From crow (bakasana), use your ab strength to shoot your legs back, landing in a plank position, with bend elbows. Then slowly lower down through chatturanga.