A Braitenberg Lizard: Continuous Phonotaxis with a Lizard Ear Model

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


The peripheral auditory system of a lizard is structured as a pressure difference receiver with strong broadband directional sensitivity. Previous work has demonstrated that this system can be implemented as a set of digital filters generated by considering the lumped-parameter model of the auditory system, and can be used successfully for step control steering of mobile robots. We extend the work to the continuous steering case, implementing the same model on a Braitenberg vehicle-like robot. The performance of the robot is evaluated in a phonotaxis task. The robot shows strong directional sensitivity and successful phonotaxis for a sound frequency range of 1400Hz–1900Hz. We conclude that the performance of the model in the continuous control task is comparable to that in the step control task.
Original languageEnglish
Title of host publicationBioinspired Applications in Artificial and Natural Computation : Third International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2009, Santiago de Compostela, Spain, June 22-26, 2009, Proceedings, Part II
Number of pages10
Publication date2009
ISBN (Print)978-3-642-02266-1
Publication statusPublished - 2009
EventInternational Work-Conference on the Interplay between Natural and Artificial Computation - Santiago de Compostela, Spain
Duration: 22. Jun 200926. Jun 2009
Conference number: 3rd


ConferenceInternational Work-Conference on the Interplay between Natural and Artificial Computation
CitySantiago de Compostela
SeriesLecture Notes in Computer Science


  • Braitenberg vehicle, lizard ear model, mobile robot

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