Fig. 6: Perching flights with a flapping-wing robot.

A Photo sequence demonstrating the flight and perch maneuver. B Vertical trajectory with altitude controller set-point of 2 m. After tuning the controller and line sensor, 9 attempts in total have been done for perching with 6 successful ones, resulted in 66% success rate. C Robot in the approach phase to the branch. D Top-down trajectory showing lateral deviation from the \({0}^{^\circ }\). E Pitch behavior during flight, stabilized to \({30}^{^\circ }\). F Forward velocity of the robot, initially at 4 m/s, was reduced to 2.5 m/s at the branch location. The velocity measures do not fall to zero on impact, due to an automatic early end of the logging. G Altitude of the flight experiments with different set points: blue color demonstrates flights targeting 2 m height, red color 2.25 m, and black color 1.75 m. The plots show the mean value and variance of 3 sets of flights.