Abstract: A design scheme is presented for the electro-hydraulic actuator power system of "Kangaroo" robot,including design of the hopping device,power system and controlling system.The feasibility of the design scheme is analyzed theoretically,the dynamic equations in the taking-off phase are established with the second order Lagrange formula,and the relationship between speed and power loading in the taking-off phase is obtained by simulation analysis,offering the theoretical basis for the power configuration of "Kangaroo" robot.Finally,experimental result is given to prove the validity of the presented design scheme.