Visual input compensation using the Crowley-Arbib saccade model

The robotic implementation of Rana computatrix uses a geometric algorithm to regain visual input that is "lost" as the result of its orienting behavior. In this paper the Crowley-Arbib saccade model is implemented in order to give this problem a solution with a biological basis. Three approaches are proposed and simulated and one is used in a small four-legged robot