Generally yes, it takes more effort for a bird to sit with a flat foot than it does curled around something; their foot muscles are the opposite of ours so that when they’re relaxed, they’re actually curled up and gripping. This means that in windy conditions, it takes almost no effort to stay safe on a branch.
As for how much more energy this actually takes, it’s hard to say. It’s definitely less comfortable and birds will seek out perches rather than a flat surface where possible. If you consider keeping our feet curled up isn’t something that’s necessarily tiring, it’s just more uncomfortable.
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