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

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

A Paradigm Shift in Control Theory
CDEQ V1.2 The Countable Foundation of Stability
DOI: 10.5281/zenodo.18939385

CDEQ V1.3 Mathematical Proof of the PCTT-CW Penta-Cyclic Clockwise Topological Theorem
DOI: 10.5281/zenodo.18988669

CDEQ V1.4: Mathematical Proof of the CENHE-LEX Nonary Central Holding Equilibrium Theorem
DOI: 10.5281/zenodo. 19023440

CDEQ V1.5 GCVT-10 Global Convergence Validation Theorem
DOI: 10.5281/zenodo. 19055969

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