Leap belongs to the semantic class of verbs which share saltation, i.e. jumping motion, as a common feature.
The parameters which are most salient to verbs in this class are duration of contact and continuity of motion. Each verb necessarily implies short contact with the ground as well as execution in a series of motions.
To move from one place to another by leaping, one must spring into the air through an arc to a high point, then fall back to the ground. These series of motions are repeated until one has arrived at a destination. Since most of the time during this motion is spent airborne, the duration of contact for jump is very short, as is the case for all verbs in the saltation class.