Fig. 3. Robustness of the proposed approach to target pose estimation offsets, and target sizes.

a Still images of 100 trials of a single experiment. b The success rate and the mean time to perch with its standard deviation. We compare a baseline feed-forward perching strategy (orange) with our tactile-based perching strategy (blue). (From left to right) 100 trials for various positional offsets, 100 trials for various rotational offsets, 100 trials for various inclinational offsets, and 100 trials for various target sizes. c The anthropomorphic, compliant hand supporting the full MAVs weight while hanging from various structures of different diameters and shapes. Thanks to its parallel revolute joints, the gripper exhibits passive compliance, allowing it to adapt to a wide range of targets. Even objects with non-uniform diameters and low-friction plastic or metallic surfaces, such as a traffic cone or a structural T-Beam, can be grasped and support the MAVs weight, as the arms close passively and compress until the contact force balances the spring torsion.