Energy‑Optimal Whole‑Body Motor Control for Optimus: Fixed‑Point Stability Mapping via Φ‑Field Projection
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2025
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| _version_ | 1866901471325323264 |
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| author | Rodgers, Jeremy |
| author_facet | Rodgers, Jeremy |
| contents | <p>This paper presents the first full-system thermodynamic projection of Tesla Optimus whole‑body motor control using a Φ‑Field fixed‑point attractor framework. By modeling the actuator, limb, and whole‑body control hierarchy as a recursive energy‑stability system, the analysis quantifies explicit ΔG costs and Φ‑coherence thresholds for gait, manipulation, and coordinated movement.</p> <p><br>Key results (CSP‑verifiable):</p> <p><br>• Walking gait: +87.6 kcal/step net (~51% efficiency gain over baseline control)<br>• Object manipulation: +198 kcal/10 s reach+grasp (~37% efficiency gain)<br>• Whole‑body coordination: ~60% ΔG reduction via recursive attractor hierarchy<br>• System Φ_coherence: Φ ≈ 4.2 (stable efficiency plateau)<br>• Peak power: ~800 W; average walking: ~400 W</p> <p><br>These results match known Optimus actuator, sensor, and energy budgets. The recursive attractor mapping shows that multi‑level coordination stabilizes at Φ ≈ 4.2, with potential for Φ ≈ 4.8 through learned predictive control. This establishes a formal energetic blueprint for energy‑optimal humanoid motor control and adaptive robotics.</p> <h2><strong>DOI Link to Related Work</strong> (optional):<br><a href="https://doi.org/10.5281/zenodo.16342661" target="_blank" rel="noopener">https://doi.org/10.5281/zenodo.16342661</a> — for the foundational Φ-Field paper </h2> <h2>This paper's solution is fully compatible with classical mathematics via the new CSP projection bridge. See DOI: <a href="https://zenodo.org/records/16623512">https://doi.org/10.5281/zenodo.16623512</a> for the full framework</h2> <p> </p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_16543758 |
| institution | Zenodo |
| language | eng |
| publishDate | 2025 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Energy‑Optimal Whole‑Body Motor Control for Optimus: Fixed‑Point Stability Mapping via Φ‑Field Projection Rodgers, Jeremy Tesla Optimus whole-body motor control Φ‑Field projection fixed‑point attractor mapping energy‑optimal robotics humanoid robot efficiency hierarchical control stability recursive control architecture actuator energy budget gait optimization manipulation efficiency ΔG thermodynamic analysis Φ coherence adaptive motor control CSP‑verifiable robotics <p>This paper presents the first full-system thermodynamic projection of Tesla Optimus whole‑body motor control using a Φ‑Field fixed‑point attractor framework. By modeling the actuator, limb, and whole‑body control hierarchy as a recursive energy‑stability system, the analysis quantifies explicit ΔG costs and Φ‑coherence thresholds for gait, manipulation, and coordinated movement.</p> <p><br>Key results (CSP‑verifiable):</p> <p><br>• Walking gait: +87.6 kcal/step net (~51% efficiency gain over baseline control)<br>• Object manipulation: +198 kcal/10 s reach+grasp (~37% efficiency gain)<br>• Whole‑body coordination: ~60% ΔG reduction via recursive attractor hierarchy<br>• System Φ_coherence: Φ ≈ 4.2 (stable efficiency plateau)<br>• Peak power: ~800 W; average walking: ~400 W</p> <p><br>These results match known Optimus actuator, sensor, and energy budgets. The recursive attractor mapping shows that multi‑level coordination stabilizes at Φ ≈ 4.2, with potential for Φ ≈ 4.8 through learned predictive control. This establishes a formal energetic blueprint for energy‑optimal humanoid motor control and adaptive robotics.</p> <h2><strong>DOI Link to Related Work</strong> (optional):<br><a href="https://doi.org/10.5281/zenodo.16342661" target="_blank" rel="noopener">https://doi.org/10.5281/zenodo.16342661</a> — for the foundational Φ-Field paper </h2> <h2>This paper's solution is fully compatible with classical mathematics via the new CSP projection bridge. See DOI: <a href="https://zenodo.org/records/16623512">https://doi.org/10.5281/zenodo.16623512</a> for the full framework</h2> <p> </p> |
| title | Energy‑Optimal Whole‑Body Motor Control for Optimus: Fixed‑Point Stability Mapping via Φ‑Field Projection |
| topic | Tesla Optimus whole-body motor control Φ‑Field projection fixed‑point attractor mapping energy‑optimal robotics humanoid robot efficiency hierarchical control stability recursive control architecture actuator energy budget gait optimization manipulation efficiency ΔG thermodynamic analysis Φ coherence adaptive motor control CSP‑verifiable robotics |
| url | https://doi.org/10.5281/zenodo.16543758 |