In one of the side chapels at Westminster Abbey there is a tomb with a knight and his wife modelled on the top. The man has his feet resting on a blue hedgehog, or porcupine. Who was he? When did he die? Who is his wife and when did she die? I presume the spiny animal is part of the knight's coat-of-arms. What is the heraldic term for it? Why is it on his coat-of arms?
Sorry, I can't find anything about this, but if you go to their website (http://www.westminster-abbey.org/)
they have an interactive map which might be able to help you. You can also contact them, so they might be able to tell you more themselves.