Optimal Inverted Landing in a Small Aerial Robot with Varied Approach Velocities and Landing Gear Designs

@article{Habas2022OptimalIL,
  title={Optimal Inverted Landing in a Small Aerial Robot with Varied Approach Velocities and Landing Gear Designs},
  author={Bryan Habas and Bader AlAttar and Brian Davis and Jack W. Langelaan and Bo Cheng},
  journal={2022 International Conference on Robotics and Automation (ICRA)},
  year={2022},
  pages={2003-2009}
}
Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing behaviors in flies suggest an open-loop causal relationship between their putative visual cues and the kinematics of the aerial maneuvers executed. For example, the degree of rotational maneuver (the amount of body inversion prior to touchdown) and the amount of leg… 

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