Fig. 1: Landing process of robot and its structure composition.
From: Machine learning-based framework for wall-perching prediction of flying robot
a The structure composition of the robot including attachment, flight and landing systems. b Robot flies approaching wall, where v0 and θ0 are the initial horizontal incidence velocity and initial pitch of flying robot, respectively. c The robot contacts the wall by its tail, where αB is the robot’s body acceleration. d The robot executes an upward flip action, where vB is the velocity of the mass center of the robot. e The robot grasps and perches the wall.
