Overturn Recovery of Working Six-Legged Robots on a Flat Slope with Preparatory Body Rotation

A method for working six-legged robots to recover from an overturned state on a flat slope is proposed. The robot rotates around its roll axis, which is parallel to the slope, from an overturned state to a normal state. During this process, the robot supports its body using six legs and maintains as much static balance as possible. This enables a stable overturn recovery. Before recovery, the robot may rotate in the overturned state around its yaw axis, which is vertical to the slope, until the recovery direction becomes lateral to the slope. This reduces the risk of tumbling down the slope. Consequently, the robot can recover from the overturned state on the flat slope of 40° when it recovers almost in the lateral direction.