just check these links and videos…
http://www.idsc.ethz.ch/Research_DAndrea/FMA
http://www.youtube.com/watch?v=3CR5y8qZf0Y&feature=player_embedded#at=41
http://www.youtube.com/watch?feature=player_embedded&v=pcgvWhu8Arc
Amazing, love the copter playing ping pong ;D
yeah it’s absolutely brilliant