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Embodied Snap: Octopus-Inspired Distributed Reach-and-Attach with a Speed-Limited Soft Arm

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

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 se

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