Abstract: To solve the problem of vision instability caused by attitude variation of the robot working under bumpy environment,a method of active compensation for robot visual error is proposed based on the principle of vestibulo-ocular reflex(VOR).According to oculomotor neural circuits,an adaptive control model of vestibulo-ocular reflex is established on the basis of physiology and anatomy.In order to verify the model's performance,some simulation experiments are performed in different environments.Simulation results show that the model can actively compensate the visual error caused by robot attitude variation and has better adaptability.Finally,physical robot experiments demonstrate the validity and accuracy of the control model.