The design, fabrication, and testing of two prototypes of a landing gear mechanism that would allow a quadcopter to grasp and perch upon a branch-like structure are presented. The prototypes are based upon a snapping-claw mechanism that is triggered on the impact of landing. A complaint claw, fabricated using shape deposition manufacturing techniques, can conform to various shapes and contours of perching structures. Results from flight tests with a commercial off-the-shelf quadcopter and zip line tests are presented which demonstrate the performance of the mechanism.
Available at: http://works.bepress.com/christopher_lee/41/