首先确定多股螺旋弹簧的虚拟质量，建立了多股螺旋弹簧的动态模型。
The virtual mass of the spring was brought out firstly and the dynamic model was established sequentially.
根据袋鼠跳跃运动的特点，建立了仿袋鼠机器人的弹簧—质量模型。
Based on the hopping characteristics of kangaroos, a spring-mass model of hopping kangaroo robot is developed.
基于单质量-弹簧模型，研究了能够使弹跳机器人单位距离能量损失最小的步态，给出了能量的消耗表达式。
Using the single mass-spring model, we study the gaits of a hopping robot for the purpose of minimizing the loss of energy per unit distance covered and present our expressions of energy consumption.
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