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Quantum Closed-Loop Inverse Kinematics via Hilbert-Space Encoding of Robot Kinematics

The paper proposes a structure-preserving quantum representation that maps rigid-body transformations and serial-manipulator kinematics to parameterized quantum circuits, encoding spatial directions in single-qubit states and reconstructing end-effector poses from Pauli expectation values. Using the parameter-shift rule, the manipulator geometric Jacobian can be reconstructed from derivatives of quantum observables, analytically equivalent to the classical result under ideal readout. On this basis, the authors propose a hybrid closed-loop method, Quantum Closed Loop Inverse Kinematics, which uses the quantum-derived pose and Jacobian information to solve inverse kinematics.

Part of the event: Quantum Closed-Loop Inverse Kinematics Paper Released

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