NeuroOS: A Deterministic and Safety-Centric Operating Architecture for Robotic Nervous Systems

NeuroOS presents a layered control hierarchy for robotic systems. Cognition handles learning, planning, and behavior selection; an intent engine produces high-level actions; real-time control transmits commands at high frequency; hardware abstraction and firmware provide deterministic low-level actuation and signal acquisition.

• Separates cognition and perception from time-critical control loops
• Adds a non-bypassable safety reflex subsystem that monitors torque, power, tilt, and velocity
• Targets humanoids, quadrupeds, and autonomous service robots across simulation and physical hardware

1. 1Defines distinct cognition, intent, real-time control, hardware abstraction, and firmware layers
2. 2Uses real-time Linux, CPU isolation, deterministic scheduling, and bounded fault domains
3. 3Compares the proposed architecture with communication-centric robotic middleware and real-time control systems

• The architecture is intended to keep complex reasoning from delaying fast physical responses
• Safety is placed in an independent reflex path so hardware anomalies or kernel failures do not directly compromise robot operation
• The paper identifies kernel development, hardware-driver expansion, and large-scale validation as future work

NeuroOS proposes a reusable foundation for robotic operating systems that combine cognitive decision-making, deterministic motor execution, hardware abstraction, and safety-critical control.