TaiChi-OSAPhase-TransitionSafetyMiddlewareforQuadrupedRobotsTaiChi-OS:面向四足机器人的相变安全中间件(含 12关节映射与合成周期预算)v0.4
Year: 2026
Type: preprint
Abstract: —ThispaperupgradesTaiChi-OSfromaconceptualtheorytoarunnablefirmwareforquadrupedsafetydecisionmiddlewareabovewholebodycontrol,notareplacementforROS2.含健康权重⾃动重分配;(2)Gazebo兼容的深坑仿真(1kHz,4000步),K在抬腿前跌⾄1.056;(3)MCU实时基robots.BuiltontheUnifiedTaiChiFieldtheory,theidealsymmetricstate(VersionA)fixestheconstantK=contributefourengineeringsteps:(1)a12-DOFjoint-torquemappingτi=u(K)·wi·Ji^T·FdeswithB版对称破缺态给出时变⽆量纲序参量K(t);当K跨过临界1时,系统在内⽣相变下切换全⼒(K>1)、试探(1≤−1,whilethesymmetry-brokenstate(VersionB)yieldsatime-varyingdimensionlessorderparameterK(t).automatichealth-weightredistribution;(2)aGazebo-compatiblepit-obstaclesimulation(1kHz,4000steps)摘要—本⽂把TaiChi-OS从概念理论升级为可运⾏的四⾜机器⼈固件。基于太极统⼀场论,A版理想态固定K=1,准,单步0.328μs,相对1000μs预算余量99.97%;(4)20次随机深坑对标,相变法刹⻋距离0.903±0.000m,固3.713±0.868mforthefixedthresholdmethod(75.7%shorter,100%safe).TaiChiOSispositionedasawhereKdropsto−1.056beforeleglift;(3)anMCUtimingbenchmarkshowing0.328μsperstep(99.97%When|K|crossesthecriticalvalue1,thesystemendogenouslyundergoesphasetransitionamongthreeregimes:full-force(K>1),balancedprobing(−1≤K≤1),andlife-preservingunloading(K<−1).WeK≤1)、保命卸⼒(K<1)三区间。本⽂完成四项⼯程⼯作:(1)12关节⼒矩映射τi=u(K)·wi·Ji^T·Fdes,margintothe1000μsbudget);(4)a20trialcomparisonshowing0.903±0.000mbrakingdistanceversus定阈值法3.713±0.868m,缩短75.7%,均100%安全刹停。TaiChiOS定位为WBC之上的安全决策中间件,不替代ROS2。
Author: Sun, Hechun
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7224133001