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

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© The Author(s) 2026

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 6 — a Full trial overview plot for trial III (c.f. Fig. 5) showcasing the position, arm opening states, and contact signals over the different phases of the tactile perching procedure. Initially, the MAV takes off, then it proceeds to search for the target; contact occurs, and it approaches the target, then it positions underneath the target and starts aligning rotationally. During finalization, it then closes all fingers until it can confirm a stable grasp and enters the perch state. b, c Still images (videos in supplementary material) of the tactile perching procedure for a steeply inclined cylindrical (Trial XV) and T-Bar target (Trial XX), respectively.