{"id":"https://openalex.org/W7155793423","doi":"https://doi.org/10.1109/lra.2026.3688080","title":"A Hybrid Perching Mechanism for Aerial Robots: Branch and Surface Perching Robust to Large Surface Orientation Misalignment","display_name":"A Hybrid Perching Mechanism for Aerial Robots: Branch and Surface Perching Robust to Large Surface Orientation Misalignment","publication_year":2026,"publication_date":"2026-04-27","ids":{"openalex":"https://openalex.org/W7155793423","doi":"https://doi.org/10.1109/lra.2026.3688080"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3688080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3688080","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134720013","display_name":"Sudheera Akalanka Kariyawasam","orcid":null},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sudheera Akalanka Kariyawasam","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA"],"raw_orcid":"https://orcid.org/0009-0008-6420-0876","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097927923","display_name":"Mahmud Hasan Saikot","orcid":null},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahmud Hasan Saikot","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-1874-5062","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101851529","display_name":"Bo Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Cheng","raw_affiliation_strings":["Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6982-0811","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA, USA","institution_ids":["https://openalex.org/I130769515"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009525568","display_name":"Jianguo Zhao","orcid":"https://orcid.org/0000-0003-0305-2597"},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianguo Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-0305-2597","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46412347,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7532","last_page":"7539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.20170000195503235,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.20170000195503235,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19660000503063202,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.17550000548362732,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6055999994277954},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5845999717712402},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5813999772071838},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.27869999408721924},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.27140000462532043}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6055999994277954},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5845999717712402},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5813999772071838},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5307000279426575},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.28870001435279846},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.25040000677108765},{"id":"https://openalex.org/C3018391215","wikidata":"https://www.wikidata.org/wiki/Q2449377","display_name":"Flat surface","level":2,"score":0.21960000693798065}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3688080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3688080","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"<italic":[0],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[1,89,125],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Abstract</i>\u2014Perching":[2],"has":[3],"recently":[4],"emerged":[5],"as":[6],"a":[7,30,64,97,108,112,133,137],"key":[8],"capability":[9],"in":[10,16,107,156],"aerial":[11,166],"robotics,":[12],"enabling":[13],"substantial":[14],"gains":[15],"energy":[17],"efficiency":[18],"and":[19,38,103,147,164],"operational":[20],"endurance":[21],"for":[22,162],"long-duration":[23],"missions.":[24],"In":[25],"this":[26],"work,":[27],"we":[28],"present":[29],"multifunctional":[31],"perching":[32,72,143],"mechanism":[33,45,66,93,135,155],"capable":[34],"of":[35,85,99,114,153],"both":[36],"branch":[37,42],"surface":[39,60,82],"perching.":[40],"For":[41,59],"perching,":[43,61],"the":[44,120,151,154],"uses":[46],"four":[47],"simultaneously-actuated":[48],"claws":[49],"to":[50,56,87,132],"grasp":[51],"branches":[52,149],"with":[53,67,77,111,136],"diameters":[54],"up":[55,86],"35":[57],"mm.":[58],"it":[62],"leverages":[63],"bistable":[65,134],"five":[68],"suction":[69,139],"cups,":[70],"allowing":[71],"onto":[73,145],"flat":[74],"smooth":[75],"surfaces":[76],"large":[78],"orientation":[79],"misalignment":[80],"(with":[81],"tilt":[83],"angles":[84],"<inline-formula":[88,124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[90,126],"notation=\"LaTeX\">$\\mathbf{80}^\\circ$</tex-math></inline-formula>).":[91],"The":[92],"is":[94],"fabricated":[95],"using":[96],"combination":[98],"multimaterial":[100],"3D":[101],"printing":[102],"silicone":[104],"molding,":[105],"resulting":[106],"lightweight":[109],"prototype":[110],"mass":[113],"32g.":[115],"Experimental":[116],"results":[117],"show":[118],"that":[119],"proposed":[121],"design":[122],"achieves":[123],"notation=\"LaTeX\">$\\boldsymbol{6.4\\times":[127],"}$</tex-math></inline-formula>":[128],"adhesion":[129],"success":[130],"compared":[131],"single":[138],"cup.":[140],"Furthermore,":[141],"real-world":[142],"experiments":[144],"cars":[146],"tree":[148],"demonstrate":[150],"effectiveness":[152],"different":[157],"environments,":[158],"highlighting":[159],"its":[160],"potential":[161],"energy-efficient":[163],"adaptable":[165],"robotic":[167],"operations.":[168]},"counts_by_year":[],"updated_date":"2026-05-12T06:07:45.972803","created_date":"2026-04-28T00:00:00"}