Published April 19, 2023 | Version v1
Conference paper Open

Experimental method for perching flapping-wing aerial robots

  • 1. GRVC Robotics Lab, University of Seville


In this work, we present an experimental setup and guide to enable the perching of large flapping-wing robots. The combination of forward flight, limited payload, and flight oscillations imposes challenging conditions for localized perching. The described method details the different operations that are concurrently performed within the 4 second perching flight. We validate this experiment with a 700 g ornithopter and demonstrate the first autonomous perching flight of a flapping wing robot on a branch. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.


The research is funded by the European Project GRIFFIN ERC Advanced Grant 2017, Action 788247.



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GRIFFIN – General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety 788247
European Commission