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Through kinetostatic and energy analysis, a four-stepped backflip strategy based on the selected rotation axis with minimum energy is proposed, with a process of selection, lifting, rotating, and protection. The kinematic factors that affect the backflip are investigated, along with the relationship between the design parameters of the leg and trunk being analyzed. At the end of this paper, the strategy is validated by a simulation and experiments with a prototype called DRbot, demonstrating that the strategy endows the robot a strong self-recovery ability in various terrains.<\/jats:p>","DOI":"10.1017\/s0263574721001326","type":"journal-article","created":{"date-parts":[[2021,10,8]],"date-time":"2021-10-08T04:18:12Z","timestamp":1633666692000},"page":"1713-1731","source":"Crossref","is-referenced-by-count":12,"title":["Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis"],"prefix":"10.1017","volume":"40","author":[{"given":"Shengjie","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kun","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3459-6055","authenticated-orcid":false,"given":"Chunsong","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian S","family":"Dai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,10,6]]},"reference":[{"key":"S0263574721001326_ref34","unstructured":"[34] Website: https:\/\/www.bostondynamics.com\/spot."},{"key":"S0263574721001326_ref19","doi-asserted-by":"publisher","DOI":"10.1115\/1.4039394"},{"key":"S0263574721001326_ref11","doi-asserted-by":"publisher","DOI":"10.1108\/IR-11-2016-0310"},{"key":"S0263574721001326_ref8","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025754"},{"key":"S0263574721001326_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310180"},{"key":"S0263574721001326_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910390537"},{"key":"S0263574721001326_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-020-1588-5"},{"key":"S0263574721001326_ref5","first-page":"323","article-title":"Rush: A simple and autonomous quadruped running robot","volume":"223","author":"Zhang","year":"2009","journal-title":"Proc. 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