Variable stiffness design for the soft landing of a 2016HO3 asteroid probe

China plans to launch a probe to detect and sampling on the near-Earth asteroid 2016HO3 around 2025. In view of this, this paper discusses an alternative landing strategy with passive variable stiffness landing gears, which help to land the probe stably on the asteroid for sufficient sampling time. First, a three-legged lander is introduced, following which, a four-bar-linkage-based variable stiffness leg is designed considering the design constraint of landing clearance. Then, a numerical model of the probe for landing simulation is established. Moreover, a surrogate model is obtained using the second-order response surface method (RSM) to improve computational efficiency. Based on the surrogate, the variable stiffness leg and the pressing force are optimized to reduce the impact forces at touchdown and the landing time. Finally, the optimal solution is validated using the dynamics analysis model.