Bionic　hopping　robot　has　a　strong　ability　to　overcome　obstacles　and　adapt　to　the　environment.　However,　due　to　the　short　control　time　in　the　robot　motion　and　the　uncertainty　of　movement　in　its　vacated　stage,　the　stability　of　motion　is　very　important　for　hopping　robot　control.　This　paper　studied　the　control　method　of　stable　hopping　motion　of　kangaroo　robot.　The　model　structure　of　kangaroo　robot　is　simplified,　and　the　double-mass　spring-loaded　inverted　pendulum(SLIP)　model　is　established　as　the　robot　dynamic　model　by　analyzing　the　robot　motion　process,　in　which　the　transition　conditions　of　the　support　and　flight　phases　of　the　SLIP　model　are　analyzed.　Forward　speed　control　and　jump　height　control　for　the　robot　SLIP　model　are　studied　respectively.　The　horizontal　motion　speed　is　controlled　by　controlling　the　landing　angle,　and　the　jump　height　is　controlled　by　energy　compensation.　The　proposed　method　for　periodic　hopping　motion　of　the　simulation　robot　model　using　the　ADAMS　software　is　verified　effective.　©　2018,　Editorial　Department　of　Control　Theory　&　Applications　South　China　University　of　Technology.　All　right　reserved.