  Micro Aerial Vehicles (MAVs) often face a high risk of collision during
autonomous flight, particularly in cluttered and unstructured environments. To
mitigate the collision impact on sensitive onboard devices, resilient MAVs with
mechanical protective cages and reinforced frames are commonly used. However,
compliant and impact-resilient MAVs offer a promising alternative by reducing
the potential damage caused by impacts. In this study, we present novel
findings on the impact-resilient capabilities of MAVs equipped with passive
springs in their compliant arms. We analyze the effect of compliance through
dynamic modeling and demonstrate that the inclusion of passive springs enhances
impact resilience. The impact resilience is extensively tested to stabilize the
MAV following wall collisions under high-speed and large-angle conditions.
Additionally, we provide comprehensive comparisons with rigid MAVs to better
determine the tradeoffs in flight by embedding compliance onto the robot's
frame.
