Roaches do not always die on their backs: it depends on how they are killed. If they are exposed to a nerve agent, like most insecticides, they get excited and twitch. The loss of muscle control generally causes them to flip, and they do not have the ability to correct themselves. They then typically twitch on their backs until there dead.
They're top-heavy. You know, their body is much heavier than their legs, plus like someone else said, their muscles contract and curl in making a bit of a round shape that rolls.
Most dead roaches you see are killed by chemicals on a smooth floor. While they are dieing they spasm and flip on their backs and can't flip back over before they die.
Their muscles aren't keeping their legs out anymore, so their legs curl up and they roll over because they have nothing to support them.
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