Pith Number

pith:Y6WZV3LG

pith:2026:Y6WZV3LGTHTFQA75HYGYCNU2AC

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A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study

Dongil Park, HyoJae Kang, Jeongdo Ahn, Yeong Jae Park

A framework encodes robotic hand kinematic designs as a single quadratic binary optimization problem.

arxiv:2605.15510 v1 · 2026-05-15 · cs.RO

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Claims

C1strongest 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.

C2weakest 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.

C3one 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.

References

31 extracted · 31 resolved · 4 Pith anchors

[1] Quantum supremacy using a programmable superconducting processor, 2019

[2] Ibm quantum system two, 2023

[3] Quan- tum computational advantage with a programmable photonic processor, 2022

[4] Borealis photonic quantum computer,

[5] Available: https://www.xanadu.ai

Receipt and verification

First computed	2026-05-20T00:01:02.332019Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c7ad9aed6699e65803fd3e0d81369a00bc3a4ad75821e38acb4896130d005231

Aliases

arxiv: 2605.15510 · arxiv_version: 2605.15510v1 · doi: 10.48550/arxiv.2605.15510 · pith_short_12: Y6WZV3LGTHTF · pith_short_16: Y6WZV3LGTHTFQA75 · pith_short_8: Y6WZV3LG

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curl -sH 'Accept: application/ld+json' https://pith.science/pith/Y6WZV3LGTHTFQA75HYGYCNU2AC \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: c7ad9aed6699e65803fd3e0d81369a00bc3a4ad75821e38acb4896130d005231

Canonical record JSON

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    "abstract_canon_sha256": "ce3b8e4e5e6893b14bf783306fcbc0684913de174bd803916fb9ad0255a0eb16",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-15T01:09:42Z",
    "title_canon_sha256": "254bbacca19c11e2460a85993b9b9f3409d2cdfbea3f28a493ba73f1afdae61e"
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    "kind": "arxiv",
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