Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

Figure 2

Top perching and side perching: the robot performs several phases when switching from flying to perching. The top perching robot equipped with a quadrotor and suction cup flies to the ceiling and hangs on the ceiling. (a) Top perching approaching step, (b) top contact step, and (c) top perching rest step. The side perching robot with suction cup flies and perches on the wall. (d) Side perching approaching step, (e) side contact step, and (f) side perching rest step.