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The flight characteristics of bats remarkably have been overlooked in aerialdrone designs. Unlike other animals, bats leverage the manipulation of inertialdynamics to exhibit aerial flip turns when they perch. Inspired by this uniquemaneuver, this work develops and uses a tiny robot called \textit{Harpoon} todemonstrate that the preparation for upside-down landing is possible through:1) reorientation towards the landing surface through zero-angular-momentumturns and 2) reaching to the surface through shooting a detachable landinggear. The closed-loop manipulations of inertial dynamics takes place based on asymplectic description of the dynamical system (body and appendage), which isknown to exhibit an excellent geometric conservation properties.

Towards biomimicry of a bat-style perching maneuver on structures: the manipulation of inertial dynamics