I am a martial artist, and I work with the rope alot. Soft surfaces do help, but nothing beats a good pair of shoes... they may save you alot of trouble in the future. Anyways as for my routine:
I typcially go for 1 minute on 30 seconds off for 5 - 7 sets.
I also use several variations within a routine:
For one set I will skip in 3 skips right leg, 3 skips left leg, 2 skips right leg, 2 skips left leg, 1 skip right leg, 1 skip left leg... repeat for one minute.
Another set I will just skip, jumping from the toes.
Another set I will do cross overs.
Another set I will go side to side.
Another set I will do double skips (the rope goes around twice for every one jump).
Some ideas for you to work with. Enjoy.