Fig. 5: Performance of perching and door opening.
From: Hand-like autonomous flying robot for airborne grasping and interaction
a Humans grasp a handrail on trains and grip a tree trunk. b HI-ARM is perching on a tree trunk. c Motor speed curve during the perching maneuver. d HI-ARM is releasing from the tree trunk and flying away. e Normalized power curve. f Humans grab door handles to open doors. g Sequence of HI-ARM opening a door. h Max force test for opening the door with/without the door handle. i Position curve during the door opening process. j Estimated external forces during the door opening action.
