Garnet Hertz: Control and Communication in the Animal and the Machine

"Control and Communication in the Animal and the Machine" is a
cockroach-controlled mobile robot system. The system uses a living
Madagascan hissing cockroach atop a modified trackball to control the
three-wheeled robot. Infrared sensors also provide navigation feedback
to create a semi-intelligent system, with the cockroach as the CPU."

http://www.conceptlab.com/control/