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i just import my robot into gazebo successfully. here are my steps:

1) create the URDF file for my robot;

2) open a terminal, type in: roslaunch gazebo_worlds empty_world.launch this loads an empty world into gazebo;

3) open another terminal, type in: rosrun gazebo spawn_model -file some_directory/my_robot.urdf -urdf -z 0 -model myRobot

one thing to attention about urdf: you need to define the inertial for every robot link. check here for how to define the inertial: http://www.ros.org/wiki/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model

hope that helps~