8本の柔軟アームで泳ぐ：協調は必要か？
To Coordinate or Not to Coordinate? Learning to Swim with Eight Soft Arms
8本の柔軟アームを持つ遊泳ロボットにおいて、腕間の位相結合を明示せず各腕の振幅を独立に強化学習する制御が、位相結合ありや端到端学習より高精度に速度・方向を追従できることを示した。
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著者: Junkai Chen, Dehan Yuan, Yiyuan Zhang, Yu Duan, Fan Shi, Dixia Fan, Cecilia Laschi
分類: cs.RO
原文アブストラクト
Does effective swimming with multiple underactuated soft arms require explicit coordination between arms? We hypothesize that an eight-arm swimmer can control its swimming speed and direction by independently learning each arm's actuation amplitude under a shared rhythmic drive, without prescribed inter-arm phase coupling. To test this hypothesis, we compare three reinforcement learning-based control strategies using proximal policy optimization (PPO): (1) learning arm-specific actuation amplitudes without inter-arm phase coupling, (2) learning actuation amplitudes with prescribed inter-arm phase coupling, and (3) directly learning actuator commands through end-to-end PPO without an explicit rhythmic structure. Across 200 episodes with randomized three-dimensional velocity commands, the controller without phase coupling satisfies the tracking criterion in 169 episodes, compared with 117 for the phase-coupled controller and 28 for end-to-end PPO. Straight-line swimming and commanded direction-change trials further demonstrate more accurate velocity tracking without phase coupling. These findings suggest that effective eight-arm swimming does not require prescribed inter-arm phase coupling, but can instead be achieved through learned arm-specific amplitude modulation within a rhythmic control structure.