Analyzing　the　landing　dynamics　response　is　essential　for　enhancing　the　success　rate　of　surface　explorations　on　celestial　bodies　like　Mars,　the　moon,　and　asteroids.　This　paper　develops　a　comprehensive　dynamics　model　for　a　space　lander　equipped　with　four　sets　of　buffer　legs.　Each　set　comprises　a　primary　strut,　two　secondary　struts,　and　a　footpad.　The　compression　force　of　the　buffer　struts　is　determined　through　interpolation　of　real　experimental　data,　while　the　contact　force　between　the　footpad　and　the　ground　is　calculated　using　Archimedes　law　for　granular　media.　The　Lagrange　equation　of　the　second　kind　is　employed　to　construct　the　dynamical　model　for　the　lander　with　minimal　degrees　of　freedom.　The　proposed　dynamics　model　is　validated　through　experiments　involving　touchdowns　of　a　single　legged　lander　and　a　four　legged　lander.　Moreover,　key　physical　quantities　such　as　the　buffer　force,　energy　absorption　and　body　acceleration　are　computed　for　both　1-2-1　and　2-2　landing　configurations.　The　results　indicate　that　the　buffer　strut　is　capable　of　absorbing　approximately　half　of　the　impact　energy,　leading　to　a　50　-fold　reduction　in　the　shock　acceleration　of　the　main　body　in　both　landing　configurations.　However,　it　is　observed　that　the　maximum　compression　of　the　buffer　strut　is　greater　in　the　1-2-1　landing　configuration　than　in　the　2-2　landing　configuration.　Furthermore,　these　simulations　can　be　completed　within　seconds,　enabling　extensive　simulations　for　the　design　and　optimization　of　soft　landing　processes.