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Robots walking under hybrid zero dynamics (HZD)-based control are susceptible to velocity disturbances because the controller is typically designed for one speed. LQR-based orbital stabilization control is one means to address this issue using feedback on the unactuated velocity. The approach, though, is difficult to implement in real time experimentally(More)
The venoms ofPolistes exclamans andP. fuscatus elicit alarm behavior and attract attacking wasps. The response is not species specific, for both hetero- and conspecific venoms elicit similar responses in both species. A test in a wind tunnel provided no support for the hypothesis that alarmed wasps release an alarm pheromone on the nest.
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