A method for controlling an aerial vehicle including a compliant arm mechanism is disclosed. A propulsion system of the aerial vehicle is controlled to fly the aerial vehicle to an area proximate to a surface. One or more of the propulsion system and the compliant arm mechanism are controlled such that the compliant arm mechanism contacts the surface. The compliant arm mechanism is configured to extend laterally beyond a perimeter of the propulsion system. One or more sensor signals indicating contact of the compliant arm mechanism against the surface are received via a sensor. A force at which the aerial vehicle presses against the surface is determined based on the one or more sensor signals.