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

Figure 14

A group of sequences of experimental results of the top perching robot adsorbing on a ceiling. (a) Fly in the sky, (b) approach the ceiling and adsorb on the ceiling, (c) stop flying and perch on the ceiling, (d) start to fly from the nest, and (e) fly again in the sky.

(a)

(b)

(c)

(d)

(e)