Homer Bell (the guru of the Rotorway/Helicycle fraternity) taught himself to fly in one of the early Scorpions he built.
A long tube through the skids and a short tether getting progressively longer as his skills improved did the trick.
So yes it can be done but is not generally recommended and I would imagine even Homer would concur with that sentiment.
He's a great gent to talk with. Look him up on the google or some such and give him a shout.
