Modelling asymmetry in the peripheral auditory system of the lizard

The ears of lizards are highly directional. The directionality is generated by strong acoustical coupling of the eardrums. A simple lumped-parameter model of the ear followed by binaural comparisons has been shown to perform successful phonotaxis in robot implementations. However, such a model will produce localization errors in the form of response bias if the ears are asymmetrical. We have evaluated how large errors are generated by asymmetry using simulations of the ear model in Mathematica 5.2. The study shows that the effect of asymmetry is minimal around the most directional frequency of the ear, but that biases reduce the useful bandwidth of localization. This work was presented in part at the First European Workshop on Artificial Life and Robotics, Vienna, Austria, July 12–13, 2007