Algorithm 1 Leg parameters optimization
Nomenclature:	Q% Ranges of optimization variables
	W% Optimization variables
	Z% Optimization objective function
	O% Kinematic feasibility constraints
	M% Range constraints
	$H_{rule}^G$% Bee colony algorithm
1:	Set Qrange, Orange, Z(i)min,Z(i)max, and M
2:	Forj=1, …., N1
3:	Select W(j) from Qrange
4:	$\mathrm{Calculate} \mathit{Z}\left(j\right) \mathrm{and} \left(j\right) \mathrm{by} H_{rule}^G$ andM
5:	If O(j) ∈Orange
6:	Update Qrange,Z(i)min and Z(i)max by Z(j)
7:	$Q_{new}^{range}$ = Qrange $, Z{(i)}_{new}^{\mathit{min}}$ Z(i)min and $Z{(i)}_{new}^{\mathit{max}}$ = Z(i)max
8:	End If
9:	End For
10:	Forj = 1, …., N2
11:	$\mathrm{Select} \left(j\right) \mathrm{from}{Q}_{new}^{range}$
12:	$\mathrm{Calculate} \mathit{Z}\left(j\right) \mathrm{by}{H}_{rule}^G$ and M
13:	${\mathrm{Update}}_{ }{Q}_{new}^{range}$$,Z{(i)}_{new}^{\mathit{min}}$$\mathrm{and} Z{(i)}_{new}^{\mathit{max}}$by Z(j)
14:	If N2$/j\in$N*
15:	$\mathrm{Update} Q_{new}^{range}$
16:	End if
17:	$\mathrm{Calculate} \mathit{Z} \mathrm{by} Z{(i)}_{new}^{\mathit{min}}$$\mathrm{and} Z{(i)}_{new}^{\mathit{max}}$
18:	If Z ≤ Zbest
19:	Copy Z into Zbest
20:	End if
21:	End For