{"paper":{"title":"A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"A framework encodes robotic hand kinematic designs as a single quadratic binary optimization problem.","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongil Park, HyoJae Kang, Jeongdo Ahn, Yeong Jae Park","submitted_at":"2026-05-15T01:09:42Z","abstract_excerpt":"This paper presents a quadratic unconstrained binary optimization-based formulation framework for robot design optimization using kinematic structure-level evaluation metrics. In the proposed framework, classical computation is used to evaluate design-dependent metrics while the resulting combinatorial selection problem is formulated in a structure compatible with quantum annealing-based optimization. A robotic hand is adopted as a representative case study, as its performance is determined by both the individual kinematic characteristics of each finger and interaction terms. The proposed form"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"A 27-variable robotic hand design problem is constructed, and simulated annealing is used as a classical baseline to verify the feasibility of the formulation. Quantum annealing is further performed to examine the applicability of the proposed formulation to annealing-based hardware execution. The results show that feasible design combinations satisfying both one-hot selection and pairwise constraints can be obtained, with the observed objective-value range becoming narrower as the number of reads increases.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That design-dependent kinematic metrics can be evaluated accurately by classical computation and that the resulting combinatorial selection problem, including individual rewards, workspace interactions, one-hot constraints, and structural penalties, can be faithfully encoded as a single quadratic objective without critical loss of fidelity.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"Presents a QUBO formulation framework for kinematic structure-based robot design optimization, demonstrated on a 27-variable robotic hand case study using simulated and quantum annealing to obtain feasible designs.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"A framework encodes robotic hand kinematic designs as a single quadratic binary optimization problem.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"5c4e763e3896c3d840ac663fae429a3b81a2e7ba3aa37522961c8adb20a378a6"},"source":{"id":"2605.15510","kind":"arxiv","version":1},"verdict":{"id":"71b3378d-cfce-4f59-a4b8-ad9a97a46dc8","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-19T15:36:05.290386Z","strongest_claim":"A 27-variable robotic hand design problem is constructed, and simulated annealing is used as a classical baseline to verify the feasibility of the formulation. Quantum annealing is further performed to examine the applicability of the proposed formulation to annealing-based hardware execution. The results show that feasible design combinations satisfying both one-hot selection and pairwise constraints can be obtained, with the observed objective-value range becoming narrower as the number of reads increases.","one_line_summary":"Presents a QUBO formulation framework for kinematic structure-based robot design optimization, demonstrated on a 27-variable robotic hand case study using simulated and quantum annealing to obtain feasible designs.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That design-dependent kinematic metrics can be evaluated accurately by classical computation and that the resulting combinatorial selection problem, including individual rewards, workspace interactions, one-hot constraints, and structural penalties, can be faithfully encoded as a single quadratic objective without critical loss of fidelity.","pith_extraction_headline":"A framework encodes robotic hand kinematic designs as a single quadratic binary optimization problem."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.15510/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"doi_title_agreement","ran_at":"2026-05-19T16:01:17.931643Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_compliance","ran_at":"2026-05-19T15:53:35.171584Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"cited_work_retraction","ran_at":"2026-05-19T14:51:55.165370Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T14:21:54.056815Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"shingle_duplication","ran_at":"2026-05-19T13:49:41.849548Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"citation_quote_validity","ran_at":"2026-05-19T13:49:41.388447Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T13:33:22.635995Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"bad1bf33544ea4dcb8254700d13e998ca3853e526c411296febb20708ec8feb4"},"references":{"count":31,"sample":[{"doi":"","year":2019,"title":"Quantum supremacy using a programmable superconducting processor,","work_id":"e093478e-ab8c-4307-85eb-64f759fc4517","ref_index":1,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2023,"title":"Ibm quantum system two,","work_id":"fb80937f-17f9-4dd3-9cc4-bfd58b6e17b1","ref_index":2,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2022,"title":"Quan- tum computational advantage with a programmable photonic processor,","work_id":"9e4002e9-8ac4-4b18-abb7-2adea858af6c","ref_index":3,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":null,"title":"Borealis photonic quantum computer,","work_id":"e30b2979-1a48-4298-86a7-f9cd8134d285","ref_index":4,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":null,"title":"Available: https://www.xanadu.ai","work_id":"3d4fdcb8-02b4-4d61-b867-d9e72ae00488","ref_index":5,"cited_arxiv_id":"","is_internal_anchor":false}],"resolved_work":31,"snapshot_sha256":"b6bfdadbc7a4c366836a2aee88443f629aef37eab170923f563add6b8ab29183","internal_anchors":4},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}