ArticleScientific reports2023
Metamorphic aerial robot capable of mid-air shape morphing for rapid perching.
Article in Scientific reports, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
6 citing papers in PubMed, 37 citations in OpenAlex.
- From one tree to the canopy: an evolutionary design trajectory for tethered robotics in forest environments.Frontiers in robotics and AI · 2026Article
- Scaly-tail organ enhances static stability during Pel's scaly-tailed flying squirrels' arboreal locomotion.Journal of the Royal Society, Interface · 2025Article
- Structural Design and Kinematic Modeling of Highly Biomimetic Flapping-Wing Aircraft with Perching Functionality.Biomimetics (Basel, Switzerland) · 2024Article
- Constrained trajectory optimization and force control for UAVs with universal jamming grippers.Scientific reports · 2024Article
- Powerful UAV manipulation via bioinspired self-adaptive soft self-contained gripper.Science advances · 2024Article
- Electrically active smart adhesive for a perching-and-takeoff robot.Science advances · 2023Article
Corrections and comments
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Authors and funding
5 authors at 2 institutions in 3 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Aerial robots can perch onto structures at heights to reduce energy use or to remain firmly in place when interacting with their surroundings. Like how birds have wings to fly and legs to perch, these bio-inspired aerial robots use independent perching modules. However, modular design not only increases the weight of the robot but also its size, reducing the areas that the robot can access. To mitigate these problems, we take inspiration from gliding and tree-dwelling mammals such as sugar gliders and sloths. We noted how gliding mammals morph their whole limb to transit between flight and perch, and how sloths optimized their physiology to encourage energy-efficient perching. These insights are applied to design a quadrotor robot that transitions between morphologies to fly and perch with a single-direction tendon drive. The robot's bi-stable arm is rigid in flight but will conform to its target in 0.97 s when perching, holding its grasp with minimal energy use. We achieved a [Formula: see text] overall mass reduction by integrating this capability into a single body. The robot perches by a controlled descent or a free-falling drop to avoid turbulent aerodynamic effects. Our proposed design solution can fulfill the need for small perching robots in cluttered environments.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.