Wasp

From Muppet Wiki

A giant Wasp menaces Gulliver in Gulliver's Travels. The wasp is a typical insect of Brobdignag, and is set upon Gulliver by the resentful Grildrig. Gulliver engages in a sword fight with the beast's stinger.

Jim Henson's Creature Shop created a rod-puppet wasp for the sequence, which was shot in blue-screen opposite Gulliver, and essentially planted on Ted Danson for portions of the key battle. For the final scene, the footage was integrated with digital manipulations of real wasp footage.