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To overcome perching location limitations, in this article, a bird\u2010inspired passive perching mechanism specifically optimized for vertical tree trunks is proposed. Similar to the tail action of treecreepers (<jats:italic>Certhiidae<\/jats:italic> family) when perching on vertical tree trunks, the proposed aerial robotic platform perches on tree surfaces using a main clawed gripping mechanism combined with a supporting \u201ctail\u201d mechanism featuring arrays of embedded microspines. To cope with the complex curvature of tree trunks, adaptive elastic joints that allow the mechanism to passively contact the tree's surface are introduced. By incorporating the region of attraction for the mechanism, the aerial platform is designed to be more reliable during perching maneuvers by adjusting angular movement, thereby defining suitable initial velocities and accelerations for achieving stable equilibrium. The proposed system is validated in a motion capture environment using vertical trunks with diameters ranging from 40 to 220\u2009mm, and further demonstrates in outdoor perching tests. Results confirm the feasibility of dynamic perching on vertical tree trunks under realistic forest conditions.<\/jats:p>","DOI":"10.1002\/aisy.202401101","type":"journal-article","created":{"date-parts":[[2025,5,29]],"date-time":"2025-05-29T16:18:47Z","timestamp":1748535527000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Treecreeper Drone: Adaptive Mechanism for Passive Tree Trunk Perching"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4375-6185","authenticated-orcid":false,"given":"Haichuan","family":"Li","sequence":"first","affiliation":[{"name":"School of Civil Aerospace and Design Engineering University of Bristol  Bristol UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7597-4497","authenticated-orcid":false,"given":"Shane","family":"Windsor","sequence":"additional","affiliation":[{"name":"School of Civil Aerospace and Design Engineering University of Bristol  Bristol UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5150-5151","authenticated-orcid":false,"given":"Basaran Bahadir","family":"Kocer","sequence":"additional","affiliation":[{"name":"School of Civil Aerospace and Design Engineering University of Bristol  Bristol UK"}]}],"member":"311","published-online":{"date-parts":[[2025,5,29]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3246395"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2022.3162207"},{"key":"e_1_2_10_4_1","doi-asserted-by":"crossref","unstructured":"J. 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