For a hopper with adjustable leg stiffness, softer legs give higher steady-state hops on soft, damped ground while stiffer legs give higher hops on hard, undamped ground.
Design principles for a family of direct-drive legged robots,
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Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles
For a hopper with adjustable leg stiffness, softer legs give higher steady-state hops on soft, damped ground while stiffer legs give higher hops on hard, undamped ground.