Embedding Bifurcations into Pneumatic Artificial Muscle.

Harnessing complex body dynamics has long been a challenge in robotics, particularly when dealing with soft dynamics, which exhibit high complexity in interacting with the environment. Recent studies indicate that these dynamics can be used as a computational resource, exemplified by the McKibben pneumatic artificial muscle, a common soft actuator. This study demonstrates that bifurcations, including periodic and chaotic dynamics, can be embedded into the pneumatic artificial muscle, with the entire bifurcation structure using the framework of physical reservoir computing. These results suggest that dynamics not present in training data can be embedded through bifurcation embedment, implying the capability to incorporate various qualitatively different patterns into pneumatic artificial muscle without the need to design and learn all required patterns explicitly. Thus, this study introduces a novel approach to simplify robotic devices and control training by reducing reliance on external pattern generators and the amount and types of training data needed for control.

Step-like dependence of memory function on pulse width in spintronics reservoir computing.

Physical reservoir computing is a type of recurrent neural network that applies the dynamical response from physical systems to information processing. However, the relation between computation performance and physical parameters/phenomena still remains unclear. This study reports our progress regarding the role of current-dependent magnetic damping in the computational performance of reservoir computing. The current-dependent relaxation dynamics of a magnetic vortex core results in an asymmetric memory function with respect to binary inputs. A fast relaxation caused by a large input leads to a fast fading of the input memory, whereas a slow relaxation by a small input enables the reservoir to keep the input memory for a relatively long time. As a result, a step-like dependence is found for the short-term memory and parity-check capacities on the pulse width of input data, where the capacities remain at 1.5 for a certain range of the pulse width, and drop to 1.0 for a long pulse-width limit. Both analytical and numerical analyses clarify that the step-like behavior can be attributed to the current-dependent relaxation time of the vortex core to a limit-cycle state.