Systems and methods for a whole-body grasping and perching drone

A vehicle, comprising:

• a plurality of arms coupled along a body of the vehicle, each arm of the plurality of arms including:
• a linkage structure configurable in a first linkage state, a second linkage state, and a third linkage state, the linkage structure being substantially aligned along a horizontal plane when in the first linkage state and being configured to curve below the horizontal plane when in the second linkage state or the third linkage state;
• and
• an actuation mechanism coupled along the body, the actuation mechanism including:
• a ratchet gear having a contact surface that applies a lateral force against a leading link of the linkage structure upon rotation of the ratchet gear in a first rotational direction to transition the linkage structure from the first linkage state to the second linkage state or the third linkage state;
• and
• a cable encapsulated within and extending along a top side of the linkage structure, the actuation mechanism being configured to straighten the linkage structure by drawing a distal end of the cable towards the body upon rotation of the ratchet gear in a second rotational direction.