Sound localization by the internally coupled ears of lizards: From biophysics to biorobotics.

Abstract

As they are generally small and only hear low frequencies, lizards have few cues for localizing sound. However, their ears show extreme directionality (up to 30 dB direction-dependent difference in eardrum vibrations) created by strong acoustical coupling of the eardrums, with almost perfect internal transmission from the contralateral ear over a broad frequency range. The activity of auditory nerve fibers reflects the eardrum directionality, so all auditory neurons are directional by default. This suggests that the ensuing neural processing of sound direction is simple in lizards. Even the simplest configuration of electrical analog models-two tympanic impedances connected via a central capacitor-produces directional patterns that are qualitatively similar to the experimental data on lizard ears. Several models, both analytical and (very recently) finite-element models, have been published. Robotic implementations using simplified models of the ear and of binaural comparison show that robust phonotaxic behavior can be generated with little additional processing and be performed by simple (and thus small and cheap) units. The authors review lizard directional processing and attempts at modeling and robotics with a twofold aim: to clarify the authors' understanding of central processing of sound localization in lizards, and to lead to technological developments of bioinspired robotics.