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For the sake of improving on traditional attitude calculation algorithm of legged robots, a novel attitude calculation algorithm for legged robots in unstructured terrain is proposed. The body locomotion acceleration obtained by dynamic analysis is fused with the information of inertial measurement unit (IMU), then Kalman filter is used to calculate the attitude of the robot body. The proposed algorithm is applicable for the situation that the robot body is subjected to the external impact. Simulations of two typical legged robots were conducted to verify the effectiveness of the proposed algorithms. The result proves the accuracy, effectiveness and versatility of the proposed algorithm.