Sensory and motivational modulation of immediate and delayed defensive responses under dynamic threat.

•A predator-like robot induced fast and slow defensive responses from rats.•The vibrissal input is critical for successful escape from close-range attacks.•Head-withdrawal reflex speed is dependent on both the visual and vibrissal inputs.•Conditioned head-withdrawal reflex occurs due to auditory conditioning.•Slow defensive responses are modulated by food-induced motivation.