  The flight characteristics of bats remarkably have been overlooked in aerial
drone designs. Unlike other animals, bats leverage the manipulation of inertial
dynamics to exhibit aerial flip turns when they perch. Inspired by this unique
maneuver, this work develops and uses a tiny robot called \textit{Harpoon} to
demonstrate that the preparation for upside-down landing is possible through:
1) reorientation towards the landing surface through zero-angular-momentum
turns and 2) reaching to the surface through shooting a detachable landing
gear. The closed-loop manipulations of inertial dynamics takes place based on a
symplectic description of the dynamical system (body and appendage), which is
known to exhibit an excellent geometric conservation properties.
