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However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method for multi-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.<\/jats:p>","DOI":"10.1017\/s0263574715001009","type":"journal-article","created":{"date-parts":[[2015,12,23]],"date-time":"2015-12-23T04:22:04Z","timestamp":1450844524000},"page":"1107-1120","source":"Crossref","is-referenced-by-count":38,"title":["Motion planning and implementation for the self-recovery of an overturned multi-legged robot"],"prefix":"10.1017","volume":"35","author":[{"given":"Saijin","family":"Peng","sequence":"first","affiliation":[]},{"given":"Xilun","family":"Ding","sequence":"additional","affiliation":[]},{"given":"Fan","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Kun","family":"Xu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,12,23]]},"reference":[{"key":"S0263574715001009_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(89)90037-2"},{"key":"S0263574715001009_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcz.2014.12.003"},{"key":"S0263574715001009_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/3477.658585"},{"key":"S0263574715001009_ref2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20193"},{"key":"S0263574715001009_ref22","unstructured":"Website: http:\/\/content.mbc.co.kr\/english\/documentary\/Nature\/2386551_56289.html."},{"key":"S0263574715001009_ref13","doi-asserted-by":"crossref","unstructured":"Z. Guanghua , D. Zhicheng and W. Wei , \u201cRealization of a Modular Reconfigurable Robot for Rough Terrain,\u201d IEEE International Conference on Mechatronics and Automation, Luoyang, China (Jun. 25\u201328, 2006) pp. 289\u2013294.","DOI":"10.1109\/ICMA.2006.257529"},{"key":"S0263574715001009_ref9","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070208"},{"key":"S0263574715001009_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.asd.2004.05.007"},{"key":"S0263574715001009_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310180"},{"key":"S0263574715001009_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2011.05.009"},{"key":"S0263574715001009_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045594"},{"key":"S0263574715001009_ref27","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"2005"},{"key":"S0263574715001009_ref25","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2013.04.771"},{"key":"S0263574715001009_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(68)90090-4"},{"key":"S0263574715001009_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067570"},{"key":"S0263574715001009_ref15","doi-asserted-by":"crossref","unstructured":"J. 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Hirose , \u201cTumble Stability Criterion of Integrated Locomotion and Manipulation,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 1996), Osaka, Japan (Nov. 4\u20138, 1996), vol. 2, pp. 870\u2013876.","DOI":"10.1109\/IROS.1996.571067"},{"key":"S0263574715001009_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.4007843"},{"key":"S0263574715001009_ref26","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2012.05.1060"},{"key":"S0263574715001009_ref23","unstructured":"Website: http:\/\/www.shixuyao.com\/noros.html."},{"key":"S0263574715001009_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9165-4"},{"key":"S0263574715001009_ref14","doi-asserted-by":"crossref","unstructured":"C. C. Kessens , D. C. Smith and P. R. Osteen , \u201cA Framework for Autonomous Self-Righting of a Generic Robot on Sloped Planar Surfaces,\u201d IEEE International Conference on Robotics and Automation (ICRA 2012), Saint Paul, MN (May 14\u201318, 2012) pp. 4724\u20134729.","DOI":"10.1109\/ICRA.2012.6224770"},{"key":"S0263574715001009_ref11","doi-asserted-by":"crossref","unstructured":"D. E. Orin , \u201cInteractive Control of a Six-Legged Vehicle with Optimization of Both Stability and Energy,\u201d Ph.D. Thesis (The Ohio State University, Columbus, 1976).","DOI":"10.1109\/CDC.1976.267763"},{"key":"S0263574715001009_ref20","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2007.1188"},{"key":"S0263574715001009_ref16","doi-asserted-by":"crossref","unstructured":"P. R. Roan , A. Burmeister , A. Rahimi , K. Holz and D. 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