Fig. 5: Evaluation of perching capability.
A Time frames of the approaching leg-claw system and the test robot with similar mass to the flight version. B Launching experiments setup with the robot in the acceleration position1, the released point2, and the perching point. C Force measurement upon impact at different speeds. D Force measurement as a function of misalignment. E Force measures as a function of speed. F Perching success region considering leg angle θleg versus velocity magnitude. The perching space is divided into three regions: 1, the system falls over (light gray); 2, success in perching (blue); 3, the system falls backward (dark gray). 90° represents a horizontal leg. G Perching success region considering leg pitch angle θleg versus yaw-deviation ψbranch of the branch with respect to the velocity direction. A 0-degree deviation of the branch means that the velocity direction is completely perpendicular to the axis of the branch. The velocity magnitude is fixed at 2.5 m/s. The space is divided into success (blue) and no success (light gray).
