This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which impart frictional reactive forces on the body. Experimental observations performed on a uniform friction surface validated a mathematical model for robot motion. This model was used to create a gait map, which features instantaneous omni-directional control. We demonstrated line following using live feedback from an overhead tracking camera. Proportional-Integral error compensation performance was compared to a basic position update procedure on a rectangular course. The controller reduced path error by approximately 46%. The error compensator is also able to correct for aerodynamic disturbances generated by a high-volume industrial fan with a mean flow speed of 5.5ms −1 , reducing path error by 65% relative to the basic position update procedure.

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Testing Subspecies limits in Monardella villosaTaylor Crow Several subspecies of Monardella villosa (California Coyote Mint) have been distinguished on the basis of leaf thickness, shape, and trichome characteristics, yet many intermediates are known. We investigated morphological differences in natural The morphological differences (leaf hair density and length as well as leaf base angle) between subspecies were maintained in the common garden, yet no patterns of local adaptation were observed in germination or survival of the subspecies in reciprocal transplants in the first year. However, Monardella is a perennial plant and fitness differences may exist in later life stages that I have not yet measured.