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

Table 1

Parameters of the robot system.

Variables	Values
Total mass [Kg]	0.65
Micropump mass [Kg]	0.15
Frame size [cmcm]
Mass center offsets [cm] [grams]	(4, 4, 0)
Angle between suction cup and lateral rotors [rad]