Аннотация:A method of rocking a six-legged robot using cyclic leg movements is proposed, which ensures the body flip and returns the robot to the working position from the upside-down position. It is shown that the
overturning of the robot is possible if the body has an upper shell in the form of a truncated cylinder. The variants of rocking in the presence of an
inclination of the support surface, as well as a pit and a bump in the contact area are considered. The inclination can be set by a combination of rotations
around different axes. Computer simulation is performed using the "Universal Mechanism" software package.