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

Figure 4

The prototype of the side perching robot. (a), (b), and (c) are views of local components of the robot showing the details when it rests on the wall. A suction cup seals with the wall which generates the vacuum chamber. The supporting system shown in (b) is well designed to provide more payload. A slider structure with spring and potentiometer is well designed to measure the external force.