Building an acrobatic robot is easier said than done. Disney Researchers have built a robot with 2 degrees of freedom that uses a gravity-driven pendulum to complete stunts. It uses an IMU and laser range-finder to estimate its state mid-flight.
Must see robots & drones:
Stickman: Towards a Human Scale Acrobatic Robot
The robot has 3 links that tuck and untuck to allow it to increase and decrease its rate of spin mid-air. Stickman can perform single and double backflips.
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