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Preprint . 2026
License: CC BY
Data sources: Datacite
ZENODO
Preprint . 2026
License: CC BY
Data sources: Datacite
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一种低功耗的用于两足机器人动态稳定的全新的芯片架构 CDEQ Theoretical Chip Architecture: A Cyber Dynamic Equilibrium Framework for Dynamic Stability of Bipedal Robots

Authors: Jiang, Wenjia;

一种低功耗的用于两足机器人动态稳定的全新的芯片架构 CDEQ Theoretical Chip Architecture: A Cyber Dynamic Equilibrium Framework for Dynamic Stability of Bipedal Robots

Abstract

Abstract This paper proposes the CDEQ Theoretical Chip Architecture, a conceptual constitutional balance arbiter dedicated to dynamic stability control of bipedal robots. Rooted in the original CDEQ (Cyber Dynamic Equilibrium) Framework, this architecture implements a complete triadic dynamic balance mechanism via hardware-oriented theoretical mapping: the first layer adopts the Penta-Cyclic Topological Theory (PCTT) to realize inherent inter-module coordination and eliminate internal command conflicts and energy friction; the second layer applies the CENHE-LEX (Central-Holding & Nonary-Constraint Execution LEXicon) to provide constitutional-level global posture constraints and anchor the system stability center; the third layer relies on the GCVT (Global Convergence & Validation Theorem/G-CVT Galactic Continuously Variable Transmission) to achieve final global convergence and dynamic equilibrium verification. The CDEQ architecture is a non-intrusive sovereign arbitration framework that does not replace the main controller, drive actuators, or modify the original robot control system. It only performs global balance arbitration by embedding three original core dynamic formulas. The 167-millisecond physiological rhythm (approximately 6Hz) consistent with human postural regulation is used as the unified temporal lattice for all theoretical computations, supporting deterministic real-time balance judgment in architectural logic. The core contribution of this paper is the original theoretical modeling and hardware-oriented architectural mapping of three complete dynamic balance equations, as well as the establishment of a new paradigm for bipedal robot balance control: PCTT dynamic generation + CENHE-LEX central holding + GCVT global convergence. This work provides a purely theory-driven top-level governance conceptual architecture for the long-standing dilemmas of internal module friction, global instability, and stiff adaptive responses in modern bipedal robotic systems, with independent intellectual property rights in theoretical architectural design. KEY PAPER (Full Theory & Proofs): A Flower's Smile, V-Functions Arise: Answering Lyapunov's Centennial Question DOI: 10.5281/zenodo.18927653 A Paradigm Shift in Control Theory CDEQ V1.2 The Countable Foundation of Stability DOI: 10.5281/zenodo.18939385 For the complete mathematical foundation, rigorous derivations, and general solution to Lyapunov's century-old problem — see the key paper above. Author: Jiang Wenjia (Shenzhen, China) ORCID: 0009-0000-3850-7286 Correspondence: jiangwenjiaszx@outlook.com

Keywords

CENHE-LEX, CDEQ Framework, Cyber Dynamic Equilibrium, 两足机器动态稳定芯片架构, Penta-Cyclic Topological Theory (PCTT), 两足机器稳定架构设计, 两足机器人平衡系统, Theoretical Chip Architecture, Non-Intrusive Arbitration, Global Convergence & Validation Theorem (GCVT), Bipedal Robot Dynamic Stability

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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