Fig. 1
From: Condition analysis of a multicopter carried with passive skid for rough terrain landing
a Normal multicopters utilize electrical skid for landing or perching; b Although, when a multicopter carried with an electrical arm and skid can achieve both catching (or grasping) and landing, it consumes much more energy, and loading batteries also increases the weight of the entire device; c Based on the arm-attached multicopter, the idea of substituting an underactuated skid with an electrical skid for landing on rough terrain is performed