中文摘要：

基于SILP模型，建立了新的单腿跳跃机器人模型，并分别对模型的支撑相、飞行相两个连续运动状态，以及着地瞬间、起飞瞬间两个冲击运动时刻进行建模．通过分析比较，结合数值方法验证了建模的正确性．

英文摘要：

Based on SLIP, a new model for one-leg-hopping robot is built. Then, other models referring to two continuous motion states （stance and flying）, and still others, representing two impact times （touchdown and lift-off）, are established. These models are well verified by comparison and numerical methods.