Abstract:Space probes rely on detection equipment to complete the exploration task. Landers and rovers are often used to design space probes in the world. The weight of probes directly affects the detection cost. If the lander and the rover are integrated into one design called leaping robot that realizes repetitive landing and movement, which can significantly reduce the weight of probes and greatly reduce the cost of space exploration. Since humans have not yet achieved legged robots to detect the moon, the development of legged leaping robots in lunar exploration can reflect the independent innovation ability of China's aerospace field. Based on the cooperative project "design of repeated landers" by the General Department of the fifth Aerospace Academy and Shanghai Jiao Tong University, a preliminary study on the quadruped and hexapod leaping robot for lunar landing and movement is carried out. The legged leaping robot adopts a parallel active leg mechanism, which has the adaptability to actively buffer landing and walking on a variety of complex terrain. A novel high-power-density driving unit based on force controlling is designed and adopted. Through structural optimization design, the robot achieves lightweight. Aiming at the control problem of landing and walking, the design idea and control method of the active and passive hybrid buffer is proposed, which realizes the buffering and body stability in the landing. The legged leaping robot has multiple functions such as repetitive landing, autonomous movement, retraction, deployment, adjustment of landing attitude, and adaptation of complex terrain.