Aerial vehicles are provided with one or more transformable arms (110, 310, 410, 510, 910). The one or more transformable arms (110, 310, 410, 510, 910) may support one or more propulsion units, and transform between a flight configuration where the propulsion units of the arms effect flight of the aerial vehicle, and a landing configuration, wherein the transformable arms (110, 310, 410, 510, 910) are used as a landing support that bears weight of the aerial vehicle when the aerial vehicle is not in flight. Using the transformable arms (110, 310, 410, 510, 910) as legs when the UAV is in a landed state permits the UAV to reduce weight and reduce obstruction to a payload carried by the UAV when the UA is in flight.