From the Rosetta Lander Philae to an Asteroid Hopper: Lander Concepts for Small Bodies Missions wrote:
When sufficient information on the target has been
collected and analyzed, a scenario will be worked out,
based on a separation from the main spacecraft in orbit
(it is desirable to perform this at low altitudes, i.e. 1 to
2 km), lander attitude stabilization with an internal
flywheel, the optional use of a one axis cold gas system
(propelling the lander “downwards”) and allowing
sufficient time to perform system relevant tasks (e.g.
unfolding of the landing gear) as well as the collection
of science data.
A typical descent will take 30 min to 2 hours. Mission
analysis shall provide a solution where the Lander z-axis
as well as the impact velocity vector are both
vertical to the comet surface at the landing site.
However, local slopes up to 30° can be tolerated by the
landing system (although the robustness of the landing
depends on the impact velocity).
At touch-down, the cold gas system will provide
downward-thrust and the anchoring harpoons will be
fired. The harpoons, on a tether, shall provide good
fixation to ground for a wide range of surface
parameters for the rest of the mission [19].
Additional anchoring will be provided by ice-screws
implemented in the feet of the Lander.