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)
Females ofPolistes fuscatus possess a sex pheromone in the venom gland and sac. The pheromone attracts males from short distances and releases male copulatory behavior.
by David Christopher Post Legged robots are desirable for many applications, especially in man-made environments where having legs is a distinct advantage over having wheels. The legged robots in these applications must be both robust to disturbances and energetically efficient, and achieving these characteristics represents two of the most pressing… (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.