Janus Drive: A Unified Kinetic Architecture for Non-Singularity and Adaptive Backlash Compensation Abstract This research introduces the Janus Drive, a novel kinetic architecture designed to overcome fundamental physical limitations in traditional robotic motion control, specifically the zero-velocity singularity and mechanical backlash. By implementing a Constant Momentum Loop (CML), this framework enables seamless high-speed maneuvers while maintaining static Center of Mass (CoM) stability, effectively shifting the burden of precision from material rigidity to algorithmic logic. Core Contributions Elimination of V=0 Singularity: Replaces traditional “start-stop” motion with a momentum-neutralizing loop, achieving a theoretical path to zero-latency hardware response. Physical Intelligence (Data Emergence): Transforms mechanical defects (backlash) into a deterministic data stream, allowing for real-time adaptive compensation and precision recovery. Kinetic Decoupling: Facilitates super-biological balance by neutralizing internal momentum during high-velocity limb maneuvers. Cost-Performance Inversion: Demonstrates a viable methodology for low-cost, mass-produced hardware to achieve high-tier industrial precision through software-defined kinetics. Current Status & Protection Development Stage: TRL 3 (Analytical Proof & Simulation Data). Intellectual Property: Protected under US Patent Pending No. 64/036,070. Target Applications: Humanoid robotics, high-precision industrial automation, and Embodied AI hardware interfaces.
Mingtao xue (Wed,) studied this question.