I have been working for a while on building RC quad copters. First I built a medium sized one following the Aeroquad hardware and software. But I was not very happy with the performance. Then I decided to build a small one which can be safely flown inside home for debugging and flight practice.  I tried aeroquad software on it first, but didn't get good result. Then, I was follwing the MultiWii threads and found they are expanding their code to support more hardware and that included Aeroquad hardwares as well. So I downloaded the latest MultiWii code and modified it to work with Aeroquad hardware (ITG3200 gyro, BMA180 accelerometer etc.). Here is how my mini quad prototype looks:

And here is short video of it in action:

How about a robotic bird that looks and flies like a real bird?

More information about this project can be found at: http://www.festo.com/cms/en_corp/11369.htm