太极统一场驱动的机器人运动控制固件:轻量级相变动力学仿真验证 TaiChi Unified Field Driven Robot Motion Control Firmware: Lightweight Phase Transition Dynamics Simulation Verification

中文:本文提出一种基于太极统一场论的机器人运动控制固件(TaiChi-OS),聚焦四足机器人物理控制与柔性交互。理想态(A版)以 K=-1 表征阴阳对偶的先天本体,真实控制对应对称破缺态(B版),序参量 K(t) 时变演化。当 |K| 跨越临界值 1 时系统发生相变,触发全力执行、试探平衡或阴场卸力保命。基于 C++ 轻量级终端日志的 10 项动力学仿真验证了避险、博弈、柔性抓取与幻觉拦截的相变决策。该算法算力开销极低,可烧录至微控制器(MCU),具备高工程落地价值。 英文:This paper proposes a robot motion control firmware (TaiChi-OS) based on the TaiChi Unified Field theory, focusing on quadruped robot physical control and flexible interaction. The ideal state (Version A) uses K=-1 to represent the innate ontology of Yin-Yang duality, while real control corresponds to the symmetry-breaking state (Version B) with time-varying order parameter K(t). When |K| crosses the critical value 1, the system undergoes phase transition, triggering full execution, exploratory balance, or Yin-field force relief. Ten dynamics simulations based on C++ lightweight terminal logs verify phase transition decisions in obstacle avoidance, game, flexible grasping, and hallucination interception. The algorithm features ultra-low computing cost and can be burned into microcontrollers (MCU), showing high engineering value.