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Current aerial robots demonstrate limited interaction capabilities inunstructured environments when compared with their biological counterparts.Some examples include their inability to tolerate collisions and tosuccessfully land or perch on objects of unknown shapes, sizes, and texture.Efforts to include compliance have introduced designs that incorporate externalmechanical impact protection at the cost of reduced agility and flight time dueto the added weight. In this work, we propose and develop a light-weight,inflatable, soft-bodied aerial robot (SoBAR) that can pneumatically vary itsbody stiffness to achieve intrinsic collision resilience. Unlike theconventional rigid aerial robots, SoBAR successfully demonstrates its abilityto repeatedly endure and recover from collisions in various directions, notonly limited to in-plane ones. Furthermore, we exploit its capabilities todemonstrate perching where the 3D collision resilience helps in improving theperching success rates. We also augment SoBAR with a novel hybrid fabric-based,bistable (HFB) grasper that can utilize impact energies to performcontact-reactive grasping through rapid shape conforming abilities. Weexhaustively study and offer insights into the collision resilience, impactabsorption, and manipulation capabilities of SoBAR with the HFB grasper.Finally, we compare the performance of conventional aerial robots with theSoBAR through collision characterizations, grasping identifications, andexperimental validations of collision resilience and perching in variousscenarios and on differently shaped objects.

A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching