A Braitenberg Lizard: Continuous Phonotaxis with a Lizard Ear Model

  • Danish Shaikh
  • John Hallam
  • Jakob Christensen-Dalsgaard
  • Lei Zhang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5602)


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 1400 Hz–1900 Hz. We conclude that the performance of the model in the continuous control task is comparable to that in the step control task.


Mobile Robot Decision Model Sound Pressure Sound Source Auditory System 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Danish Shaikh
    • 1
  • John Hallam
    • 1
  • Jakob Christensen-Dalsgaard
    • 2
  • Lei Zhang
    • 1
  1. 1.Mærsk Mc-Kinney Møller Institute for Production TechnologyDenmark
  2. 2.Institute of BiologyUniversity of Southern DenmarkOdense MDenmark

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