{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T17:38:22Z","timestamp":1792172302139,"version":"4.4.0"},"reference-count":61,"publisher":"Wiley","issue":"30","license":[{"start":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T00:00:00Z","timestamp":1773360000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T00:00:00Z","timestamp":1773360000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"published-print":{"date-parts":[[2026,5]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Conventional unmanned aerial vehicles (UAVs) are limited in their ability to perch and grasp, constraining aerial manipulation and prolonged operation in complex environments. Raptors, however, achieve versatile and robust functions through specialized hindlimb morphologies. Inspired by the owl's limb structure and the bat's roosting behavior, we propose a bioinspired adaptive leg\u2010claw mechanism that enables UAVs to perform robust and versatile perching and grasping. Our design integrates a four\u2010link tibia, tension\u2010driven deformable feet, and symmetrical toes to ensure stable attachment to surfaces of varying geometry. An active grasping strategy and control framework are developed to enable autonomous switching between standing and hanging perching modes, and adaptive toe adjustment for grasping diverse objects. The design allows UAVs to seamlessly transition between perching modes, land on branches of different diameters, and grasp irregular objects with stability. The bioinspired mechanism demonstrates significant potential for enabling UAVs to perch and grasp reliably in unstructured environments.<\/jats:p>","DOI":"10.1002\/advs.202523518","type":"journal-article","created":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T18:47:33Z","timestamp":1773427653000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Bioinspired Adaptive Leg\u2010Claw Enables Robust Perching and Grasping for UAVs"],"prefix":"10.1002","volume":"13","author":[{"given":"Tianyu","family":"Cheng","sequence":"first","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shaokun","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiehan","family":"Zou","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guiwen","family":"Shi","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhongxue","family":"Gan","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"I\u2010Ming","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering Nanyang Technological University  Singapore Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2421-740X","authenticated-orcid":false,"given":"Guo\u2010Niu","family":"Zhu","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,3,13]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1080\/01584197.2018.1483203"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610445"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3440095"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaf1092"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3001520"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4032250"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adj3133"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748\u20103190\/ad3263"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4068556"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2022.0010"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4044416"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44172\u2010024\u201000241\u20100"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3386616"},{"key":"e_1_2_9_15_1","first-page":"125","article-title":"The Morphological Characteristics of the Passive Flexor Mechanism of Birds With Different Digit Layout","volume":"88","author":"Trbojevi\u0107 Vuki\u010devi\u0107 T.","year":"2018","journal-title":"Veterinary Archives"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/jez.1714"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1111\/jzo.13044"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/jmor.21317"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11128377"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abj7562"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3325714"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2025.3567123"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598\u2010025\u201098752\u2010z"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968076"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/RoboSoft60065.2024.10521918"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105168"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3145514"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010022\u201035356\u20105"},{"key":"e_1_2_9_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3130378"},{"key":"e_1_2_9_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2023.3331357"},{"key":"e_1_2_9_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3526570"},{"key":"e_1_2_9_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3483044"},{"key":"e_1_2_9_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3184447"},{"key":"e_1_2_9_34_1","doi-asserted-by":"crossref","unstructured":"H. N.Nguyen . R.Siddall B.Stephens A.Navarro\u2010Rubio andM.Kovac \u201cA Passively Adaptive Microspine Grapple for Robust Controllable Perching \u201d in2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) IEEE (2019):80\u201387 https:\/\/doi.org\/10.1109\/robosoft.2019.8722779.","DOI":"10.1109\/ROBOSOFT.2019.8722779"},{"key":"e_1_2_9_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3336216"},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235\u2010024\u201000502\u2010w"},{"key":"e_1_2_9_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611159"},{"key":"e_1_2_9_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793936"},{"key":"e_1_2_9_39_1","doi-asserted-by":"publisher","DOI":"10.34133\/research.0737"},{"key":"e_1_2_9_40_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau6637"},{"key":"e_1_2_9_41_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.041731"},{"issue":"1","key":"e_1_2_9_42_1","first-page":"5","article-title":"High\u2010Speed Aerial Grasping Using a Soft Drone With Onboard Perception","volume":"2","author":"Ubellacker S.","year":"2024","journal-title":"Robotics"},{"key":"e_1_2_9_43_1","doi-asserted-by":"publisher","DOI":"10.1111\/joa.12614"},{"key":"e_1_2_9_44_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10682\u2010023\u201010261\u20105"},{"key":"e_1_2_9_45_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adn6642"},{"key":"e_1_2_9_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2025.3586888"},{"key":"e_1_2_9_47_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010024\u201055157\u20102"},{"key":"e_1_2_9_48_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649251339772"},{"key":"e_1_2_9_49_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22231"},{"key":"e_1_2_9_50_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10483\u2010023\u20102988\u20106"},{"key":"e_1_2_9_51_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202411351"},{"key":"e_1_2_9_52_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4062302"},{"key":"e_1_2_9_53_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361\u2010665X\/ada2cc"},{"key":"e_1_2_9_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2025.3532491"},{"key":"e_1_2_9_55_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41559\u2010021\u201001509\u2010w"},{"key":"e_1_2_9_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/ReMAR61031.2024.10617980"},{"key":"e_1_2_9_57_1","doi-asserted-by":"publisher","DOI":"10.1111\/azo.12276"},{"key":"e_1_2_9_58_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.avrs.2022.100053"},{"key":"e_1_2_9_59_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586\u2010024\u201008228\u20109"},{"key":"e_1_2_9_60_1","article-title":"Birds Land Reliably On Complex Surfaces By Adapting Their Foot\u2010Surface Interactions Upon Contact","volume":"8","author":"Roderick W. R.","year":"2019","journal-title":"Science Robotics"},{"key":"e_1_2_9_61_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235\u2010024\u201000643\u2010y"},{"key":"e_1_2_9_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2956870"}],"container-title":["Advanced Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.202523518","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/advs.202523518","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.202523518","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,15]],"date-time":"2026-06-15T14:25:45Z","timestamp":1781533545000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/advs.202523518"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,13]]},"references-count":61,"journal-issue":{"issue":"30","published-print":{"date-parts":[[2026,5]]}},"alternative-id":["10.1002\/advs.202523518"],"URL":"https:\/\/doi.org\/10.1002\/advs.202523518","archive":["Portico"],"relation":{},"ISSN":["2198-3844","2198-3844"],"issn-type":[{"value":"2198-3844","type":"print"},{"value":"2198-3844","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3,13]]},"assertion":[{"value":"2025-11-18","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-08","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-13","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e23518"}}