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. 2026 Aug 22;4(1):35. doi: 10.1038/s44182-026-00109-9

Fig. 2. State machine, resulting procedure, and signal processing for the tactile perching approach.

Fig. 2

a A block diagram of the state machine used to implement the tactile perching approach. b The resulting behavior of the physical prototype when commanded by the state machine. The system transitions between TAKEOFF, SEARCHING, TOUCHED, APPROACH, POSITION, ROTATION, FINALIZE, PERCH, and ABORT, driven by contact events and pose convergence. c Processing of the raw capacitive values from the touch sensors to binary contact signals. An example trial (Trial XVII in Fig. 4) showcases the functionality of the capacitive touch sensors. By thresholding the difference from the nominal value, we obtain a robust binary signal.