Jumping　robots　can　overcome　obstacles　strongly　and　are　suitable　for　complex　terrain　environments.　However,　the　takeoff　parameters　of　most　jumping　robots,　especially　pause-and-leap　jumping　robots,　cannot　be　changed　accurately.　Moreover,　the　stability　of　the　flight　and　landing　of　these　robots　needs　to　be　improved.　On　the　basis　of　observations　of　the　jumping　process　of　a　locust,　leg　mechanisms,　including　one-degree-of-freedom　jumping　leg　and　series　buffering　leg,　are　designed.　Then,　dynamic　models　for　takeoff,　flight,　and　landing　buffering　are　established　and　combined　with　Lagrange/Newton-Euler　dynamic　modeling　methods　and　conservation　of　momentum　moment.　For　the　former,　the　effects　of　structural　parameters,　including　position　of　the　driving　spring,　absolute　position　of　the　center　of　mass,　and　stiffness　coefficient　of　the　driving　spring,　on　takeoff　velocity　and　acceleration　can　be　obtained.　The　takeoff　parameters　can　also　be　changed　accurately.　For　the　flight　phase,　the　relationship　between　the　relative　position　of　the　center　of　mass　and　the　stability　of　flight　is　revealed.　For　the　latter,　the　effects　of　two　buffering　modes　on　the　supporting　forces　and　energy　storage　capacity　are　analyzed.　On　the　basis　of　the　parameters　determined　by　the　abovementioned　modeling　method,　a　prototype　is　developed,　and　an　experiment　is　conducted　to　verify　the　rationality　of　the　modeling　method.　Experimental　results　show　that　the　prototype　can　acquire　accurate　takeoff　parameters　and　achieve　stable　flight　and　landing　buffering.　This　study　provides　a　useful　reference　for　the　design　and　control　of　jumping　robots.