如何提高低空多旋翼飞行器的着陆适应性和缓冲能力是实现其在复杂环境中安全着陆的关键。传统起落架结构固定且多采用被动缓冲方式，难以适应崎岖地形与对冲击响应的主动调节，易导致无人机着陆不稳定甚至结构损坏。为提升着陆适应性与缓冲性能，设计了一种驱动缓冲一体化的仿生腿式起落架，并建立了起落架及机体的动力学模型。基于动力学模型和阻抗控制方法，提出了一种具有刚度阻尼可调能力的主动柔顺控制策略，从而在保证飞行器具有地形适应性的同时提高缓冲性能。为了验证构型设计的合理性和控制方法的有效性，针对200mm高度差地形、15°斜坡地形以及0.5m/s、1.0m/s、1.5m/s、2.0m/s四种不同侧向着陆速度的工况开展研究。结果表明，相较于无缓冲和基于关节电机三环控制的缓冲策略，主动柔顺控制策略可将机体过载峰值降低82.4%和70%，股关节峰值扭矩降低78.5%和58.6%，胫关节峰值扭矩降低76.7%和67.8%；在具有侧向着陆速度的工况下，能够有效吸收侧向冲击能量，并使机身姿态快速恢复平稳。

Improving the landing adaptability and buffering capability of low-altitude multirotor aircraft is crucial for ensuring safe landings in complex environments. Traditional landing gear systems are typically rigid and rely on passive damping mechanisms, which limits their ability to adapt to uneven terrain or respond actively to impact forces. This often leads to unstable landings and potential structural damage. To address these challenges, a bio-inspired leg-ged landing gear integrating actuation and damping functions is proposed. A dynamic model encompassing both the landing gear and the aerial vehicle is established. Based on this model, an active compliance control strategy is formulated using impedance control principles, enabling tunable stiffness and damping characteristics. This ap-proach enhances terrain adaptability while significantly improving shock absorption performance during landing. To verify the rationality of the landing gear design and the effectiveness of the control method, studies were con-ducted under various landing conditions, including a 200 mm height difference terrain, a 15° sloped terrain, and four different lateral landing velocities of 0.5 m/s, 1.0 m/s, 1.5 m/s, and 2.0 m/s. The results indicate that, compared to the non-buffered approach and the traditional joint motor-based triple-loop control buffering strategy, the active compliance control strategy reduces the peak body overload by 82.4% and 70%, the peak torque of the hip joint by 78.5% and 58.6%, and the peak torque of the knee joint by 76.7% and 67.8%. Under lateral landing conditions, the proposed method effectively absorbs lateral impact energy and enables rapid recovery of the aircraft's attitude.