Coherence Loss in Humanoid Robotics A Triad-Based Diagnostic Interpretation

This working paper applies the Coherence (C), Boundary Transfer (L), and Regime Margin (R) triad from the Emergent Order Systems (EOS) framework to the documented engineering challenges of humanoid robotics, focusing on motion control as an openly acknowledged unsolved problem in the field. The paper argues that the primary failure modes — sensor fusion degradation, model-DOF mismatch, and real-time feedback bandwidth limits — share a common underlying structure expressible as coherence loss across interconnected subsystems. Drawing on a published bridge layer from virtual and augmented reality coherence analysis, where structural isomorphism between VR/AR and autonomous system failure modes has been established, the triad is mapped to humanoid subsystem failure modes as a substrate-independent diagnostic language. The contribution is descriptive and non-prescriptive: no control algorithms or safety architectures are proposed.