To be quite honest, Jump Rope burpees are the only burpees that I do! They are easy enough and for me and has less impact than the regular burpees.
I love to show people different jump rope routine to incorporate into their workouts so you are in for a treat.
Check out this blog post by Nicole Handler of FitFul Focus: The Jump Rope Burpee
Bonus: Here is a youtube video showing you exactly how it's done, with a written description.