Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive
  Perching   Compared to their biological counterparts, aerial robots demonstrate limited
capabilities when tasked to interact in unstructured environments. Very often,
the limitation lies in their inability to tolerate collisions and to
successfully land, or perch, on objects of unknown shape. Over the past years,
efforts to address this have introduced designs that incorporate mechanical
impact protection and grasping/perching structures at the cost of reduced
agility and flight time due to added weight and bulkiness. In this work, we
develop a fabric-based, soft-bodied aerial robot (SoBAR) composed of both
contact-reactive perching and embodied impact protection structures while
remaining lightweight and streamlined. The robot is capable to 1) pneumatically
vary its body stiffness for collision resilience and 2) utilize a hybrid
fabric-based, bistable (HFB) grasper to perform passive grasping. When compared
to conventional rigid drone frames the SoBAR successfully demonstrates its
ability to dissipate impact from head-on collisions and maintain flight
stability without any structural damage. Furthermore, in dynamic perching
scenarios the HFB grasper is capable to convert impact energy upon contact into
firm grasp through rapid body shape conforming in less than 4ms. We
exhaustively study and offer insights for this novel perching scheme through
grasping characterization, grasp wrench analysis, and experimental grasping
validations in objects with various shapes. Finally, we demonstrate the
complete control pipeline for SoBAR to approach an object, dynamically perch on
it, recover from it, and land.

6
The categories of this paper are: astro-ph
36
The categories of this paper are: cmp-lg
20
The categories of this paper are: acc-phys
9
The categories of this paper are: nlin
8
The categories of this paper are: hep-ex
10
The categories of this paper are: q-bio
35
The categories of this paper are: mtrl-th
24
The categories of this paper are: dg-ga
27
The categories of this paper are: comp-gas
30
The categories of this paper are: q-alg
34
The categories of this paper are: chem-ph
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
23
The categories of this paper are: solv-int