Embodied Snap：タコに着想を得た分散型リーチ・アタッチと速度制限付きソフトアーム

原文アブストラクト

Reach-and-attach of soft robotic arms with passive suction requires accurate targeting and sufficient contact speed, yet geared actuators can impose a speed limit that improved trajectory tracking alone cannot overcome. This paper proposes an embodied snap controller that separates slow servo-driven preloading from rapid elastic release, enabling a compliant arm to move beyond its direct tendon-driven speed limit. Octopus biology motivates the controller's section-wise organizational prior, rather than reproduction of the octopus nervous system. A learned policy shared across three sections selects preloads, aim, tendon slack, and release timing, determining where, how, and when to load and release the body. The policy is optimized offline using a hardware-validated recurrent model within experimentally supported bounds. Across five optimization seeds and 400 unseen simulated targets, attachment success is $(73\pm4)\%$ at a $5\text{ cm}$ lateral tolerance, and the shared policy reaches the matched centralized controller's mean final reward after a median $17\%$ of the common evaluation budget. Hardware characterization achieves tip speeds of 1.56-1.64 m/s, at least $108\%$ above direct tendon-driven release. In 18 open-loop hardware trials across six placements, 17 exceed the 1 m/s snap threshold and nine retrieve the object, with successful retrieval at five placements. These results demonstrate a practical division of responsibility in the control problem: learned control prepares the body, and passive body mechanics execute the rapid movement needed for dynamic reach-and-attach.