Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in\nnature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase\nmission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some\nprototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to\ndeal with the contact between the robot and environment under the traditional position control without considering the stationary\nobstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots\nto smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance\ncontrol method is employed to control the contact force and displacement with the environment. Simulations including the top\nperching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation\nand experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching\nrobot.
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