The autonomous robots consisting of an immovable lander and a rover are widely deployed to explore extraterrestrial planets. Two main drawbacks limit the development of this cooperative work mode: (1) it cannot perform soft-landing missions repeatedly on the planet, owing to the damage of buffer structure during soft-landing. (2) the rover’s detection area is restricted to the vicinity of the immovable lander. To overcome these problems, we have designed an innovative six-legged mobile lander with repetitive landing capacity, called “HexaMRL”, which integrates the functions of a lander and a rover including folding, deploying, repetitive landing, and walking. This novel robot’s legs adopted hybrid mechanism with active and passive compliance. Therefore, it remains to be a great challenge to analyze the robot soft-landing capacity which is determined by the parameters such as spring stiffness coefficient, damper damping coefficient, and initial tiptoe position. In order to solve the problem, the dynamic modeling and assessment criteria were established. The soft-landing process was analyzed through three numerical simulations using three sets of representative parameters based on dynamic model and the set of best effective parameters was chosen to apply in soft-landing experiment on a 5-DOF lunar gravity testing platform (5-DOF LGTP). The experiments were further verified that the selected parameters met the requirement of soft landing on the lunar surface. The HexaMRL provides novel insight for the next generation equipment for lunar exploration, which may be an efficient solution to the extraterrestrial planet exploration.

由不可移动的着陆器和漫游车组成的自主机器人被广泛部署用于探索外星行星。两个主要缺点限制了这种协同工作模式的发展：（1）由于软着陆过程中缓冲结构的损坏，无法在地球上重复执行软着陆任务。(2) 漫游车的探测区域仅限于不动着陆器附近。为了克服这些问题，我们设计了一种创新的六足移动着陆器，具有重复着陆能力，称为“HexaMRL”，它集成了着陆器和漫游车的功能，包括折叠、展开、重复着陆和行走。这种新型机器人的腿采用了主动和被动顺应性的混合机制。所以，分析由弹簧刚度系数、阻尼器阻尼系数和初始足尖位置等参数决定的机器人软着陆能力仍然是一个很大的挑战。为了解决这个问题，建立了动态​​建模和评估标准。基于动力学模型，利用三组代表性参数，通过三组数值模拟对软着陆过程进行了分析，并选择了一组最佳有效参数应用于五自由度月球重力测试平台（5-DOF）的软着陆实验。 LGTP）。实验进一步验证了所选参数满足月面软着陆的要求。HexaMRL 为下一代月球探测设备提供了新颖的见解，