A good technique to use is to begin with the phrase: I know that.
If the sentence makes sense doing that, it's an independent clause. If it doesn't, it's a dependent clause.
Looking at the examples:
- I know that Stephen jumps on the trampoline - That makes sense. Independent clause
- I know that until I hear from you - You're still waiting to find out important information. I know that until I hear from you ... what? That's a dependent clause.