Bioinspired　jumping　robots　need　to　be　able　to　move　on　rough　terrain.　Despite　the　high　rigidity　and　low　control　difficulty　of　robots　with　one-DOF　jumping　legs,　they　are　more　prone　to　losing　stability　than　robots　with　multi-DOF　series　legs　due　to　the　varying　attitudes　of　bilateral　jumping　legs　in　the　initial　state,　thereby　further　causing　motion　failure.　For　keeping　the　jumping　stability　of　robots　with　one-DOF　jumping　legs,　a　coordinated　allocation　method　of　driving　forces　is　proposed　in　this　paper.　On　the　basis　of　an　analysis　of　the　instability　of　a　locust　in　the　take-off　phase,　kinematics　and　dynamics　models　were　established　for　a　robot　with　active　and　passive　driving　modes,　respectively.　Unlike　active　driving,　passive　driving　means　that　the　driving　forces　cannot　be　adjusted　in　real　time　during　the　take-off　phase,　and　the　randomness　of　the　terrain　needs　to　be　considered.　With　the　forces　of　the　bilateral　jumping　legs　to　the　trunk,　take-off　velocity,　and　take-off　time　of　the　equivalent　center　of　mass　as　target　values,　the　difference　of　target　values　on　both　sides　should　be　approximately　equal.　Results　show　that　with　the　driving　forces　obtained　by　the　method　proposed　in　this　paper　as　the　input,　the　effect　of　the　rough　terrain　on　the　trunk　is　reduced,　and　the　robot　has　good　jumping　stability.　This　study　provides　a　theoretical　basis　for　the　application　of　jumping　robots　in　complex　environments.