Dynamic differential equation is established with Kane method.The formulas of input torque at each joint and force acting on the ground and the approach to equivalent spring stiffness were presents.

• 并用凯恩法建立了系统动力学微分方程,推导了跳跃机构各关节输入扭矩和对地面作用力的计算公式,同时提出了确定等效弹簧参数的方法。