On Robots and Flies : Modeling the visualorientation behavior of iesSusanne

We would like to thank H. Krapp for many stimulating discussions on y vision and y behavior. We thank him and also A. Borst for helpful comments on preliminary versions of this paper. Abstract. Although artiicial and biological systems face similar sensorimotor control problems , until today only a few attempts have been made to implement speciic biological control structures on robots. Nevertheless, the process of designing the sensorimotor control of a robot can contribute to our understanding of these mechanisms and can provide the basis of a critical evaluation of existing biological models. Flies have developed a specialized visuomotor control for tasks such as course stabilization, xation and approach towards stationary objects, tracking of moving objects, and landing, which are based on the analysis of visual motion information. Theoretical and experimental results suggest that in ies the visuomotor control for course stabilization as well as xation and approach towards stationary objects may be implemented at least partially by one common sensory circuit. We present agents with a visuomotor controller that regulates the two behaviors of course stabilization and object xation. To test this controller under real world conditions, we implemented it on a miniature robot. We have been able to show that, in addition to course stabilization and object xation, the robot also approaches stationary objects.