Physical reservoir computing on a soft bio-inspired swimmer

Abstract

Bio-inspired Autonomous Underwater Vehicles with soft bodies provide significant performance benefits over conventional propeller-driven vehicles; however, it is difficult to control these vehicles due to their soft underactuated bodies. This study investigates the application of Physical Reservoir Computing (PRC) in the swimmer's flexible body to perform state estimation. This PRC informed state estimation has potential to be used in vehicle control. PRC is a type of recurrent neural network that leverages the nonlinear dynamics of a physical system to predict a nonlinear spatiotemporal input-output relationship. By embodying the neural network into the physical structure, PRC can process the response to an environment input with high computational efficiency. This study uses a soft bio-inspired propulsor embodied as a physical reservoir. We evaluate its ability to predict different state estimation tasks including hydrodynamic forces and benchmark computational tasks in response to the forcing applied to the artificial muscles during actuation. The propulsor's nonlinear fluid-structural dynamics act as the physical reservoir and the kinematic feedback serves as the reservoir readouts. We show that the bio-inspired underwater propulsor can predict the hydrodynamic thrust and benchmark tasks with high accuracy under specific input frequencies. By analyzing the frequency spectrum of the input, readouts, and target signals, we demonstrate that the system's dynamic response determines the frequency contents relevant to the task being predicted. The propulsor's ability to process information stems from its nonlinearity, as it is responsible to transform the input signal into a broader spectrum of frequency content at the readouts. This broad band of frequency content is necessary to recreate the target signal within the PRC algorithm, thereby improving the prediction performance. The spectral analysis provides a unique perspective to analyze the nonlinear dynamics of a physical reservoir and serves as a valuable tool for examining other types of vibratory systems for PRC. This work serves as a first step towards embodying computation into soft bio-inspired swimmers.

Keywords: Bio-inspired swimmer; Physical reservoir computing.