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Reducing too much energy results in the vehicle stalling and falling. Too much kinetic energy at touchdown could damage the vehicle. Most studies used dangerous pitch\u2010up maneuvers to manage this balance. This work presents a system that eliminates the pitch\u2010up maneuver by mechanically capturing and storing kinetic energy at impact. It is validated using a passive mechanical system consisting of a storage mechanism for energy recuperation and a claw for perching on a horizontal rod. The energy stored in the mechanism is then used to unperch. The mathematical model for the recuperation strategy is presented and perching success at various approach attitudes are characterized. The proof\u2010of\u2010concept claw recaptures 5% of the kinetic energy during perching. Experiments indicate that the device can successfully perch at a wide range of yaw angles, but requires more precision in roll. We show that our perching mechanism enables the fastest UAV perching to date (7.4\u2009m\u2009s<jats:sup>\u22121<\/jats:sup>).<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100150","type":"journal-article","created":{"date-parts":[[2021,11,21]],"date-time":"2021-11-21T12:09:26Z","timestamp":1637496566000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Passive Perching with Energy Storage for Winged Aerial Robots"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4482-9147","authenticated-orcid":false,"given":"William","family":"Stewart","sequence":"first","affiliation":[{"name":"School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  Lausanne 1015 Switzerland"}]},{"given":"Luca","family":"Guarino","sequence":"additional","affiliation":[{"name":"School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  Lausanne 1015 Switzerland"}]},{"given":"Yegor","family":"Piskarev","sequence":"additional","affiliation":[{"name":"School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  Lausanne 1015 Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5330-4863","authenticated-orcid":false,"given":"Dario","family":"Floreano","sequence":"additional","affiliation":[{"name":"School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  Lausanne 1015 Switzerland"}]}],"member":"311","published-online":{"date-parts":[[2021,11,21]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2211081"},{"key":"e_1_2_10_3_1","doi-asserted-by":"crossref","unstructured":"M.Tieu D. 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