[copying from Robohub]
Two of the most challenging problems tackled with quadrocopters so far are balancing an inverted pendulum and juggling balls. My colleagues at ETH Zurich’s Flying Machine Arena have now combined the two.
As part of his Master thesis Dario Brescianini, student at ETH Zurich’s Institute for Dynamic Systems and Control, has developed algorithms that allow quadrocopters to juggle an inverted pendulum. If you are not sure what that means (or how that is even possible), have a look at his video “Quadrocopter Pole Acrobatics”:
You can read the full article with much more details and other photos here: