yea there is another top level comment by gtirloni which links to a different example which does it without a gimbal, by applying a sinusoidal current with vari

yea there is another top level comment by gtirloni which links to a different example which does it without a gimbal, by applying a sinusoidal current with variable amplitude and phase to the motors. They have symmetric rotors though, so your question applies there! I wonder if maybe the rotors are in fact slightly asymmetric and just look symmetrical. edit: I got it, this is super neat: The blades are hinged at a 45 degree angle, but in opposite directions. See Figure 1 and 2 here http://www.modlabupenn.org/wp-content/uploads/paulos_an_underactuated_propeller_IROS_2013.pdf http://www.modlabupenn.org/wp-content/uploads/paulos_an_unde...