Exploiting imperfections in perception-action learning

In this paper a some examples of simulations and experiments performed in the last few years in the field of bio-inspired robotics are reviewed and revisited, deepening their characteristics and emphasising the role of imperfections that could be the main actors guiding their success in real environment. Our cases of study rely on both geetic and behavioral experiments on the fruit fly, from which models, simulations and robotic experiments were performed.