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.Comment: IROS 2022 Workshop: Agile Robotics: Perception, Learning, Planning,
and Control, 202