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.
再加上偏离中心的尾巴，使它们以异乎寻常的混乱模式到处弹跳。
That, and an off-centered tail, causes them to bounce around in a bizarre, chaotic manner.
当他上升时，重力影响它使它变慢(缓入)，然后开始下降时动作就越来越快速(缓出)直到它弹跳到地面。
As it goes up, gravity affects it and slows down (Ease In), then it starts its downward motion more and more rapidly (Ease Out), until it hits the ground.
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