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.

翻译：本文提出了一种实验装置与指南，用于实现大型扑翼飞行器的栖息。前飞、有限载荷及飞行振荡的组合条件对局部栖息带来了挑战。所述方法详细描述了在4秒栖息飞行中同步执行的不同操作。我们通过一台700克的扑翼飞行器验证了该实验，并首次展示了扑翼飞行器在树枝上的自主栖息飞行。本工作为扑翼飞行器在远程任务、鸟类观测、操控作业及户外飞行中的应用奠定了基础。