Question

Why do astronauts on the moon seem like they're "Walking on springs" while on earth we are firmly attached to the ground

Answer 1

We have gravity here on earth while in space there’s none

Answer 2

Because of the moon's considerably lower gravity. The moon's gravity is about 1/4 as strong as the earth's gravity.
Our muscles a built to carry us on the earth. The astronauts are used to walking on earth so when they push forward with their legs they tend to use the same amount of energy which is 4 times more than needed. That push causes them to rise, Newton's second law