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Abstract. This paper presents the prototype design and evaluation of a novel rotorcraft that can adhere to and move on the ceiling. It has four propellers for flying like conventional rotorcraft. In addition, a specialized guard frame and two active wheels are attached on its body frame for adhering to and moving on the ceiling. The propellers create negative pressure in the guard frame that acts as a suction cup for generating adhesion force. The active wheels are used for moving on the ceiling face. Experiments are carried out to show the feasibility of flying in the air, adhering to, and moving on the ceiling.