diff --git a/examples/leap_ardrone/leap_ardrone.js b/examples/leap_ardrone/leap_ardrone.js
new file mode 100644
index 0000000..c7dfc17
--- /dev/null
+++ b/examples/leap_ardrone/leap_ardrone.js
@@ -0,0 +1,255 @@
+/*
+ * leap_ardrone.js
+ * 
+ * Written by Giuliano Sposito and Fábio Uechi
+ * Copyright (c) 2013-2014 CI&T Software
+ * Licensed under the Apache 2.0 license.
+*/
+
+Cylon = require('cylon');
+
+var lastS = 0;
+var handStartPosition = [];
+var handStartDirection = [];
+var UP_CONTROL_THRESHOLD = 50;
+var UP_SPEED_FACTOR = 0.01;
+var SWIPE_THRESHOLD = 30;
+var CIRCLE_THRESHOLD = 1.5;
+var DIRECTION_THRESHOLD = 0.25;
+var DIRECTION_SPEED_FACTOR = 0.05;
+var TURN_SPEED = 0.5;
+var TURN_TRESHOLD = 0.2;
+var TURN_SPEED_FACTOR = 2.0;
+
+Cylon.robot({
+
+  connections: [
+    { name: 'leapmotion', adaptor: 'leapmotion', port: '127.0.0.1:6437' },
+    { name: 'ardrone', adaptor: 'ardrone', port: '192.168.1.1' },
+    { name: 'keyboard', adaptor: 'keyboard' }
+  ],
+
+  devices: [
+    { name: 'drone', driver: 'ardrone', connection:'ardrone' },
+    { name: 'leapmotion', driver: 'leapmotion', connection:'leapmotion' },
+    { name: 'keyboard', driver: 'keyboard', connection:'keyboard'}
+  ],
+
+  work: function(my) {
+
+    //KEYBOARD
+
+    my.keyboard.on('right', function(key) { 
+      console.log("RIGHT");
+      my.drone.rightFlip();
+    });
+
+    my.keyboard.on('left', function(key) { 
+      console.log("LEFT");
+      my.drone.leftFlip();
+    });
+
+    my.keyboard.on('up', function(key) { 
+      console.log("UP");
+      my.drone.frontFlip();
+    });
+
+    my.keyboard.on('down', function(key) { 
+      console.log("DOWN");
+      my.drone.backFlip();
+    });
+
+    my.keyboard.on('w', function(key) { 
+        console.log("key(w): my.drone.wave()");
+        my.drone.wave();
+    });
+
+    // EMERGENCE KEYS
+    my.keyboard.on('s', function(key) { 
+        console.log("key(S): my.drone.stop()");
+        my.drone.stop();
+    });
+      
+    my.keyboard.on('l', function(key) {
+        console.log("key(L): my.drone.land()");
+        my.drone.land();
+    });
+      
+      
+      
+    // HAND 
+    my.leapmotion.on('hand', function(hand) {
+
+      // detecta abertua de mão ==> ATIVA COMANDO DE MDAnielOVIMENTO
+      if (hand.s>1.5 && lastS<=1.5) {
+        console.log('Direction Motion Control'); 
+        handStartPosition = hand.palmPosition;
+        handStartDirection = hand.direction;
+        console.log();
+      };
+
+      //console.log(hand);
+
+    // TURNS
+    if(hand.s>1.5 && Math.abs(handStartDirection[0]-hand.direction[0]) > TURN_TRESHOLD ) {
+      var signal = handStartDirection[0]-hand.direction[0];
+      var value = (Math.abs(handStartDirection[0]-hand.direction[0])-TURN_TRESHOLD)*TURN_SPEED_FACTOR;
+
+      if (signal>0){
+        my.drone.counterClockwise(value);
+        console.log('turn left: CCW('+ value +')');
+      }
+
+      if (signal<0){
+        my.drone.clockwise(value);
+        console.log('turn right:  CW('+ value +')');
+      }
+      
+    }
+  
+      // UP and DOWN 
+      if (hand.s>1.5 && Math.abs(hand.palmPosition[1]-handStartPosition[1]) > UP_CONTROL_THRESHOLD) {
+    
+        var signal = (hand.palmPosition[1]-handStartPosition[1]) >= 0 ? 1 : -1;
+        var value = Math.round(Math.abs((hand.palmPosition[1]-handStartPosition[1]))-UP_CONTROL_THRESHOLD) * UP_SPEED_FACTOR;
+    
+        if (signal>0) {
+          my.drone.up(value);
+          console.log('my.drone.up('+value+')'); 
+        };
+
+        if (signal<0) {
+            my.drone.down(value);
+            console.log('my.drone.down('+value+')');
+        }
+
+      }
+
+      // DIRECTION FRONT/BACK
+      if (hand.s>1.5 && (Math.abs(hand.palmNormal[2])>DIRECTION_THRESHOLD)) {
+          if (hand.palmNormal[2]>0) {
+              var value = Math.abs(Math.round( hand.palmNormal[2]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
+              my.drone.forward( value );
+              console.log ('my.drone.forward(' + value + ')');
+          };
+          
+          if (hand.palmNormal[2]<0) {
+              var value = Math.abs(Math.round( hand.palmNormal[2]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
+              my.drone.back( value );
+              console.log ('my.drone.back(' + value + ')');
+          };
+      } 
+
+      // DIRECTION LEFT/RIGHT
+      if (hand.s>1.5 && (Math.abs(hand.palmNormal[0])>DIRECTION_THRESHOLD)) {
+          if (hand.palmNormal[0]>0) {
+              var value = Math.abs(Math.round( hand.palmNormal[0]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
+              my.drone.left( value );
+              console.log ('my.drone.left(' + value + ')');
+          };
+          
+          if (hand.palmNormal[0]<0) {
+              var value = Math.abs(Math.round( hand.palmNormal[0]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
+              my.drone.right( value );
+              console.log ('my.drone.right(' + value + ')');
+          };
+      }
+
+      // AUTO FREEZE
+      if ( hand.s>1.5 &&  // mão aberta
+          (Math.abs(hand.palmNormal[0])<DIRECTION_THRESHOLD) && // dentro do threshold lateral
+          (Math.abs(hand.palmNormal[2])<DIRECTION_THRESHOLD) && // dentro do threshold frontal
+           Math.abs(hand.palmPosition[1]-handStartPosition[1]) < UP_CONTROL_THRESHOLD && // dentro do treshold de altura
+           Math.abs(handStartDirection[0]-hand.direction[0]) < TURN_TRESHOLD) // turn da mao
+      {
+          my.drone.stop();
+          console.log('my.drone.stop()');
+      }
+
+      // COMMAND FREEZE
+      if (hand.s<=1.5 && lastS > 1.5) { // mão fechada
+        console.log("my.drone.stop() !!!");
+        my.drone.stop();
+      }
+
+      lastS = hand.s;
+      
+    });
+
+    // GESTOS
+    my.leapmotion.on('gesture', function(gesture) {
+        
+        if (gesture.type=='swipe' && gesture.state=='stop'){
+
+        deltaX = gesture.position[0]-gesture.startPosition[0];
+        deltaY = gesture.position[1]-gesture.startPosition[1];
+        deltaZ = gesture.position[2]-gesture.startPosition[2];
+
+        var amplitude = Math.abs(Math.max(Math.max(deltaX, deltaY),deltaZ));
+
+        if (amplitude>SWIPE_THRESHOLD) {
+
+          if (Math.abs(deltaX) > Math.abs(deltaY) && Math.abs(deltaX) > Math.abs(deltaZ)) {
+            //console.log('swipe X: ' + deltaX); // drone flip left/right
+            if (deltaX>0){
+                 my.drone.clockwise(TURN_SPEED);
+                 console.log('swipe right: my.drone.clockwise('+TURN_SPEED+')');
+                //my.drone.animate('flipRight',1000);
+                //my.drone.rightFlip();
+            };
+
+            if (deltaX<0){
+                my.drone.counterClockwise(TURN_SPEED);
+                console.log('swipe left: my.drone.counterClockwise('+TURN_SPEED+')');
+                //my.drone.animate('flipLeft',1000);
+                //my.drone.leftFlip();
+            }
+          }
+
+          if (Math.abs(deltaY) > Math.abs(deltaX) && Math.abs(deltaY) > Math.abs(deltaZ)) {
+            console.log('swipe Y: ' + deltaY); // drone takeoff/land
+            if (deltaY>0) { 
+              console.log('swipe up: no command'); 
+              //my.drone.takeoff();
+            };
+            
+            if (deltaY<0) { 
+              console.log('swipe down: no command');
+             //my.drone.land();
+            };
+          }
+
+          if (Math.abs(deltaZ) > Math.abs(deltaX) && Math.abs(deltaZ) > Math.abs(deltaY)) 
+            console.log('swipe Z: ' + deltaZ); // null
+        } else {
+          console.log("Swipe skipped (" + Math.round(amplitude) + ")");
+        }
+
+      } else {
+        if (gesture.type=='circle' && gesture.state=='stop' && gesture.progress > CIRCLE_THRESHOLD ){
+          
+          if (gesture.normal[2] < 0) {
+            //console.log("Turn CW: " + (gesture.progress - CIRCLE_THRESHOLD) );
+            console.log('circle-cw: my.drone.takeoff()');
+            my.drone.takeoff();
+          };
+
+          if (gesture.normal[2] > 0) {
+            //console.log("Turn CCW: " +  (gesture.progress - CIRCLE_THRESHOLD) );
+            console.log('circle-ccw: my.drone.land()');
+            my.drone.land();
+            after((5).seconds(), my.drone.stop);
+          }
+        }
+      }
+        
+      // EMERGENCE STOP
+      if (gesture.type=='keyTap' || gesture.type=='screenTap') {
+          console.log('tap: my.drone.stop()');
+          my.drone.stop();
+      };
+    }); 
+
+
+  }
+}).start();
diff --git a/examples/leap_ardrone/leap_ardrone.markdown b/examples/leap_ardrone/leap_ardrone.markdown
new file mode 100644
index 0000000..ec0352e
--- /dev/null
+++ b/examples/leap_ardrone/leap_ardrone.markdown
@@ -0,0 +1,37 @@
+# Leapmotion Ardrone 2.0
+
+First, let's import Cylon:
+
+    var Cylon = require('../..');
+
+Now that we have Cylon imported, we can start defining our robot
+
+    Cylon.robot({
+
+Let's define the connections and devices:
+
+  connections: [
+    { name: 'leapmotion', adaptor: 'leapmotion', port: '127.0.0.1:6437' },
+    { name: 'ardrone', adaptor: 'ardrone', port: '192.168.1.1' },
+    { name: 'keyboard', adaptor: 'keyboard' }
+  ],
+
+  devices: [
+    { name: 'drone', driver: 'ardrone', connection:'ardrone' },
+    { name: 'leapmotion', driver: 'leapmotion', connection:'leapmotion' },
+    { name: 'keyboard', driver: 'keyboard', connection:'keyboard'}
+  ],
+
+Now that Cylon knows about the necessary hardware we're going to be using, we'll
+tell it what work we want to do:
+
+      work: function(my) {
+        my.leapmotion.on('frame', function(frame) {
+          frame.hands.length > 0 ? my.led.turnOn() : my.led.turnOff();
+        });
+      }
+
+Now that our robot knows what work to do, and the work it will be doing that
+hardware with, we can start it:
+
+    }).start();