[1] Dr Hananel Davidowitz of the NEC Research Institute in Princeton, N.J., says, “ the jet-propelled bug thinks with its behind”

[2] Mery Fernard, Animal Languages, Sason House, pg 3

[3] Figure 16-1 The end of a cockroach leg by Catherine Chalmers Image from http://www.catherinechalmers.com/

Further reading

Fraden, Jacob, "Handbook of Modern Sensors: Physics, Designs, and Applications". 2nd ed. New York: Springer Verlag; 1996.

Basic Stamp cookbook is a great place to find simple designs and concise code fragments.