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The system is small (primary dimension 25.2\u2009cm), lightweight (260\u2009g), and agile (thrust\u2010to\u2010weight ratio of 3.3) while simultaneously integrating sensorized flexible joints in its arms. These elastic joints unlock the potential of experiencing flexible deformations, thus enabling the robot to resiliently withstand collisions at high speeds and squeeze through openings more narrow than its nominal dimensions. Extensive analysis of the flexible joints\u2019 behavior under static loads and in free flight is conducted. Driven by the deformations that the robot can experience, adaptive control allocation exploiting real\u2010time angle deflection feedback from Hall\u2010effect sensors embedded in the joints is proposed and combined with fixed\u2010gain control. To demonstrate Morphy's performance, multiple experiments are conducted, including free flight trajectory tracking, impacts with the environment, and flying through narrow passages. As shown, the system can withstand collisions up to 7.6\u2009m\u2009s<jats:sup>\u22121<\/jats:sup> in drop tests and 3\u2009m\u2009s<jats:sup>\u22121<\/jats:sup> midflight while recovering back to hover. Finally, Morphy's capability to passively change its shape and squeeze through openings smaller than its nominal size is showcased both in the horizontal and in the vertical directions.<\/jats:p>","DOI":"10.1002\/aisy.202400493","type":"journal-article","created":{"date-parts":[[2024,11,12]],"date-time":"2024-11-12T01:55:46Z","timestamp":1731376546000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Morphy: A Compliant and Morphologically Aware Flying Robot"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-4012-2260","authenticated-orcid":false,"given":"Paolo","family":"De Petris","sequence":"first","affiliation":[{"name":"Autonomous Robots Lab Department of Engineering Cybernetics Norwegian University of Science and Technology  O.S. 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