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Three ultra micro servos at around 2.5g or less: I used the ones branded Blue Arrow. http://www.instructables.com/id/Sub-Micro-Blimp/

Sub Micro (Spy) Blimp Building with Hacked Servos

OpenPilot guided UAV has successful autonomous maiden flight » shackspace = der hackerspace in stuttgart

Allgemein Dezember 6th, 2011 shackspace-hacker Corvus reported a first break-through building his very own UAV based on OpenPilot . After attending the SMD Soldering Workshop at shackspace a while ago he decided to aim high and began designing a SMD PCB of his own right away. http://shackspace.de/?p=2659

3D Printed Hovering Ornithopters | Cornell Computational Synthesis Laboratory

Project Members: Charlie Richter, Floris van Breugel, William Regan, Zhi Ern Teoh This project currently focuses on developing a flapping-wing hovering insect using 3D printed wings and mechanical parts. The use of 3D printing technology has greatly expanded the possibilities for wing design, allowing wing shapes to replicate those of real insects or virtually any other shape. http://creativemachines.cornell.edu/ornithopter
multi-rotor