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To do so, the discoid cockroach often pushes its wings against the ground to begin a somersault which rarely succeeds. As it repeatedly attempts this, the animal probabilistically rolls to the side to self-right. During winged self-righting, the animal flails its legs vigorously. Here, we studied whether wing opening and leg flailing together facilitate strenuous ground self-righting. Adding mass to increase hind leg flailing kinetic energy increased the animal\u2019s self-righting probability. We then developed a robot with similar strenuous self-righting behavior and used it as a physical model for systematic experiments. The robot\u2019s self-righting probability increased with wing opening and leg flailing amplitudes. A potential energy landscape model revealed that, although wing opening did not generate sufficient kinetic energy to overcome the high pitch potential energy barrier to somersault, it reduced the barrier for rolling, facilitating the small kinetic energy from leg flailing to probabilistically overcome it to self-right. The model also revealed that the stereotyped body motion during self-righting emerged from physical interaction of the body and appendages with the ground. Our work demonstrated the usefulness of potential energy landscape for modeling self-righting transitions.<\/jats:p>","DOI":"10.7554\/elife.60233","type":"journal-article","created":{"date-parts":[[2021,7,7]],"date-time":"2021-07-07T08:00:17Z","timestamp":1625644817000},"update-policy":"https:\/\/doi.org\/10.7554\/elife.60233","source":"Crossref","is-referenced-by-count":11,"title":["Propelling and perturbing appendages together facilitate strenuous ground self-righting"],"prefix":"10.7554","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5431-9007","authenticated-orcid":true,"given":"Ratan","family":"Othayoth","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, United States"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7516-3646","authenticated-orcid":true,"given":"Chen","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, United States"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"4374","published-online":{"date-parts":[[2021,7,7]]},"reference":[{"key":"bib1","doi-asserted-by":"publisher","DOI":"10.1515\/9781400849512","volume-title":"Principles of Animal Locomotion","author":"Alexander","year":"2006"},{"key":"bib2","doi-asserted-by":"publisher","first-page":"150","DOI":"10.3758\/BF03335647","article-title":"The righting reflex in turtles: a description and comparison","volume":"20","author":"Ashe","year":"1970","journal-title":"Psychonomic Science"},{"key":"bib3","doi-asserted-by":"publisher","DOI":"10.2307\/1375371","article-title":"Locomotion in kangaroo rats and its adaptive significance","volume":"32","author":"Bartholomew","year":"1951","journal-title":"Journal of Mammalogy"},{"key":"bib4","volume-title":"Animal Locomotion, Oxford Animal Biology Series","author":"Biewener","year":"2003"},{"key":"bib5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-63537-8_4","article-title":"Pop! observing and modeling the legless Self-Righting jumping mechanism of click beetles","author":"Bolmin","year":"2017","unstructured":"Bolmin O, Duan C, Urrutia L, Abdulla AM, Hazel AM, Alleyne M, Dunn AC, Wissa A. 2017. 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