Flying robots capable of perch-and-stare are desirable for reconnaissance missions. Current solutions for perch-and-stare applications utilize various methods to create an aircraft that can land on a limited set of surfaces that are typically horizontal or vertical planes. This paper presents a bio-inspired concept that allows for passive perching on cylindrical-type surfaces. The prototype provides compliant gripping through the use of an underactuated foot. A mechanism inspired by songbird anatomy is integrated that utilizes rotorcraft weight as a way to passively actuate the foot. Successful perching trials on two rods of differing diameters were performed and are discussed. The purpose of this initial design is to act as a proof of concept for the mechanical action of the mechanism; our results demonstrate that passive perching can be achieved through the integration of underactuated gripping with mechanism-generated mechanical advantage.
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